lidar.labeler.AutomationAlgorithm Class

Namespace: lidar.labeler

Interface for algorithm automation in ground truth labeling

Since R2022a

Description

The lidar.labeler.AutomationAlgorithm class specifies the interface for defining custom automation algorithms to run in the Lidar Labeler app. Classes that inherit from the AutomationAlgorithm interface can be used with the automation workflow of the Lidar Labeler app to generate ground truth labels.

The lidar.labeler.AutomationAlgorithm class is a handle class.

Class Attributes

Abstract

true

For information on class attributes, see Class Attributes.

Properties

The AutomationAlgorithm class predefines this set of properties.

GroundTruth — Ground truth data

groundTruthLidar object

Ground truth data, specified as a groundTruthLidar. This property holds all the labels in the Lidar Labeler app prior to automation.

Attributes:

GetAccess	public
SetAccess	private

SelectedLabelDefinitions — Selected label definitions

structure

Label definitions selected for automation in the app, specified as a structure. The app support selection of only one labeling definition per automation session. In the app, the selected label definition is highlighted in yellow in either the ROI Labels or Scene Labels pane on the left.

The structure contains these fields.

Field	Description
Type	labelType enumeration that contains the type of label definition. Valid label types are: labelType.Cuboid labelType.Line labelType.Scene lidarLabelType object contains the label type for voxel labeled ROI. You define the label using lidarLabelType.Voxel.
Name	Character vector that contains the name of the label definition.
Attributes (optional)	Structure array that contains one structure for each attribute in the label definition. If the label definition does not contain attributes, then this property does not include the Attributes field. The first field of each attribute structure in this structure array contains the attribute name. The second field contains a structure of values that are associated with that name. If you are defining a List attribute, you must also define the list of values for that attribute. Values for Numeric Value, String, or Logical attributes are optional. Descriptions for the attributes are optional for all cases.
VoxelLabelID (optional)	Positive integer that contains the voxel label ID for the label definition. This VoxelLabelID field applies only for label definitions of type lidarLabelType.Voxel.

To view a sample SelectedLabelDefinitions structure that contains an attribute, enter this code at the MATLAB^® command prompt.

selectedLabelDefs.Type = labelType.Cuboid;
selectedLabelDefs.Name = 'Car';
selectedLabelDefs.Attributes = struct('distance', ...
    struct('DefaultValue',0,'Description','Sensor distance'))

To view a sample SelectedLabelDefinitions structure that contains voxel label definitions, enter this code at the MATLAB command prompt.

selectedLabelDefs.Type = lidarLabelType.Voxel;
selectedLabelDefs.Name = 'Tree';
selectedLabelDefs.Attributes = struct('distance', ...
    struct('DefaultValue',0,'Description','Sensor distance'))

Attributes:

GetAccess	public
SetAccess	private

ValidLabelDefinitions — Valid label definitions

structure array

Valid label definitions that the algorithm can automate, specified as a structure array. Each structure in the array corresponds to a valid label definition. To determine which label definitions are valid, the app uses the checkLabelDefinition method. This table describes the fields for each valid label definition structure.

Field	Description
Type	labelType enumeration that contains the type of label definition. Valid label types are: labelType.Cuboid labelType.Line labelType.Scene lidarLabelType object contains the label type for voxel labeled ROI. You define the label using lidarLabelType.Voxel.
Name	Character vector that contains the name of the label definition.
Attributes (optional)	Structure array that contains one structure for each attribute in the label definition. If the label definition does not contain attributes, then this property does not include the Attributes field. The first field of each attribute structure in this structure array contains the attribute name. The second field contains a structure of values that are associated with that name. If you are defining a List attribute, you must also define the list of values for that attribute. Values for Numeric Value, String, or Logical attributes are optional. Descriptions for the attributes are optional for all cases.
VoxelLabelID (optional)	Positive integer that contains the voxel label ID for the label definition. This VoxelLabelID field applies only for label definitions of type lidarLabelType.Voxel.

To view a sample ValidLabelDefinitions structure that contains an attribute, enter this code at the MATLAB command prompt.

validLabelDefs(1).Type = labelType.Cuboid;
validLabelDefs(1).Name = 'Car';
validLabelDefs(2).Type = labelType.Line;
validLabelDefs(2).Name = 'LaneMarker';
validLabelDefs(3).Type = lidarLabelType.Voxel;
validLabelDefs(3).Name = 'Tree';

Attributes:

GetAccess	public
SetAccess	private

Clients of the AutomationAlgorithm class are required to define this set of properties. These properties set up the name, description, and user instructions for your automated algorithm.

Name — Automation algorithm name

character vector

Automation algorithm name, specified as a character vector.

Attributes:

GetAccess	public
Abstract	true
Constant	true
NonCopyable	true

Description — Automation algorithm description

character vector

Algorithm description, specified as a character vector.

Attributes:

GetAccess	public
Abstract	true
Constant	true
NonCopyable	true

UserDirections — Algorithm directions displayed in app

cell array

Algorithm directions displayed in app, specified as a cell array. UserDirections are specified as a cellstr, with each string representing a separate direction. Use the checkSetup method to verify that the directions have been adhered to.

Attributes:

GetAccess	public
Abstract	true
Constant	true
NonCopyable	true

Methods

Public Methods

Clients of an AutomationAlgorithm implement these user-defined functions to define execution of the algorithm. For more information on creating your own automation algorithm, see Create Automation Algorithm for Labeling.

checkLabelDefinition	Validate label definition
checkSignalType	Validate signal type
checkSetup	Set up validation (optional)
initialize	Initialize state for algorithm execution (optional)
run	Run label automation on every frame in interval
terminate	Terminate automated algorithm (optional)
settingsDialog	Display algorithm settings (optional)

Version History

Introduced in R2022a