Input dataset preperation to groundTruthLidar

Hi there,

I have done a clustering-based 3D object detection based on Lidar point cloud, with a result of [x, y, z, h, w, l, yaw]. I can append two 0 to make it a N*9 array. However, it seems for Cuboid, groundTruthLidar only accepts [xmin, ymin, zmin, width, height, depth, 0, 0, 0], i.e., no yaw. Is it true? Is there a way to include yaw for 3D bounding boxes? The error message is attached below:

Invalid entry in label data table for Cuboid labelType. Table entries for column must be M-by-9 matrices of [xmin, ymin, zmin, width, height, depth, 0, 0, 0]. Please refer to groundTruthLidar object.

Thank you for your time.

Kind regards,

Chenyu

[Walter Roberson]

That is odd. The definition for labeldata Cuboid https://www.mathworks.com/help/lidar/ref/groundtruthlidar.html#mw_4ba93ad9-d2ac-4454-a74c-315d2fcf4824 does not mention any restriction on the rotation angles.

Which MATLAB release are you using?

[Chenyu]

Hi Walter,

I am using R2024b.

Besides that, could it be the dataSource issue? It seems a bit weird. I have extracted a folder of .pcd files from a ros2 bag, and I am using the code below to create the dataSource:

sourceName = '/home/chenyu/Data/lidar_pcd';  % full path to your local bag file
sourceParams = struct();
sourceParams.TopicName = '/ouster/points';  % replace with the actual topic from your bag
dataSource = vision.labeler.loading.PointCloudSequenceSource;
dataSource.loadSource(sourceName,sourceParams);

The dataSource variable content is attached, it seems nothing has been loaded. Could you give me some instructions?

Chenyu

[Walter Roberson]

R2024b does not appear to have any documented restriction on the rotation angles either.

https://www.mathworks.com/help/releases/R2024b/lidar/ref/groundtruthlidar.html?searchHighlight=groundTruthLidar&s_tid=doc_srchtitle#mw_4ba93ad9-d2ac-4454-a74c-315d2fcf4824

[sudobash]

Hi Chenyu,

Can you share your code for initializing the groundTruthLidar object?

Thanks!