lidar.syncImageViewer.SyncImageViewer class

Package: lidar.syncImageViewer

Interface to connect external tool to Lidar Labeler app

Description

The lidar.syncImageViewer.SyncImageViewer class creates an interface between a custom visualization or analysis tool and a point cloud signal in the Lidar Labeler app. You can use the SyncImageViewer class to sync video and image sequence signals to the app only.

Creation

The SyncImageViewer specifies the interface for connecting an external tool to the Lidar Labeler app. An external tool can be a custom visualization tool or custom analysis tool. The class that inherits from the SyncImageViewer interface is called the client. The client performs these tasks:

• Syncs an external tool to each frame change event for a specific signal loaded into the Lidar Labeler app. Syncing enables you to control the external tool through the range slider and playback controls of the app.

• Controls the current time in the external tool and the corresponding display in the app.

To connect an external tool to the Lidar Labeler app, follow these steps:

1. Define a client class that inherits from lidar.syncImageViewer.SyncImageViewer. You can use the SyncImageViewer class template to define a class and implement your custom visualization or analysis tool. At the MATLAB^® command prompt, enter this code:

   lidar.syncImageViewer.SyncImageViewer.openTemplateInEditor

   Follow the steps in the template.

2. Save the file to any folder on the MATLAB path. Alternatively, save the file to a folder outside the MATLAB path and add the folder to MATLAB path by using the addpath function.

Properties

VideoStartTime — Start time of signal

real scalar in seconds

Start time of the signal, specified as a real scalar in seconds.

Attributes:

GetAccess	public
SetAccess	private

VideoEndTime — End time of signal

real scalar in seconds

End time of the signal, specified as a real scalar in seconds.

Attributes:

GetAccess	public
SetAccess	private

StartTime — Start of time interval in app

real scalar in seconds

Start of the time interval in the app, specified as a real scalar in seconds. To set the start time, use the start flag interval in the app.

Attributes:

GetAccess	public
SetAccess	private

CurrentTime — Time of frame currently displaying in app

real scalar in seconds

Time of the frame currently displaying in the app for the connected signal, specified as a real scalar in seconds. If the slider is between two timestamps, then the currently displaying frame is the frame that is at the previous timestamp.

Attributes:

GetAccess	public
SetAccess	private

EndTime — End of time interval in app

real scalar in seconds

End of the time interval in the app, specified as a real scalar in seconds. To set the end time, use the end flag interval in the app.

Attributes:

GetAccess	public
SetAccess	private

TimeVector — Timestamps for connected signal

duration vector

Timestamps for the connected signal, specified as a duration vector. This signal must be the master signal. If you change the master signal, the TimeVector property updates to the timestamps for new master signal.

Attributes:

GetAccess	public
SetAccess	private

Methods

Public Methods

dataSourceChangeListener	Update external tool when connecting to signal being loaded into Lidar Labeler app
frameChangeListener	Update external tool when new frame is displayed in Lidar Labeler app
updateLabelerCurrentTime	Update current time in Lidar Labeler app
close	Close external tool connected to Lidar Labeler app
disconnect	Disconnect external tool from Lidar Labeler app

Examples

Connect Image Display to Lidar Labeler

Connect an image display tool to the Lidar Labeler app. Use the app and tool to display synchronized lidar and image data.

Specify the source for the image data and lidar data to load into the app.

sourceName = fullfile(toolboxdir('lidar'),'lidardata','lcc', ...
                      'HDL64','pointCloud');

Display the image data in sync with the lidar data.

lidarLabeler(sourceName,'SyncImageViewerTargetHandle',@SyncImageDisplay);

Tips

• For an example of an external tool, see the SyncImageDisplay implementation of the lidar.syncImageViewer.SyncImageViewer class. This class implements an image display tool. You can use this code as a starting point for creating your own tools.

  edit SyncImageDisplay