How can I identify which pointcloud file is being labeled in the matlab lidar labeler?

Hello, I'm currently facing difficulty in determining which point cloud is being identified by the MATLAB Lidar Labeler. I have 500 .bin files that contain various point cloud frames. When I load these files into the MATLAB Lidar Labeler, it automatically creates a sequence. However, it is crucial for me to know which specific point cloud is being labeled at any given time. Is it possible to achieve this?

Answer 1

[Sanjana]

Hi Hedi,

I understand that you are trying to find a method to identify the specific point cloud data being labeled in the point cloud data files imported as a sequence in the “LidarLabeler” application.

The “.bin” files, in the folder, are loaded into the lidar labeler app as a sequence which is same as the order in which the files are returned by “dir” function in MATLAB.

Upon labelling the data, you can export the data using the “export” button in the “Label” tab, and the “groundTruthLidar” object generated has “LabelData” organized in the form of “timetable”. The table has as many rows as there are PCD/PLY frames or timestamps in the data source folder. This table in the ground truth helps in identifying the specific point cloud data being labeled.

Please refer to the following link, for more information,

https://www.mathworks.com/help/lidar/ug/lidar-labeler-get-started.html

Hope this helps!