subset

R2026b

Extract subset of sensors from multiSensorParameters object

Since R2026b

Syntax

multiSensorObjSubset = subset(multiSensorObj,type)

multiSensorObjSubset = subset(multiSensorObj,indices)

Description

multiSensorObjSubset = subset(multiSensorObj,type) returns a new sensor object that includes only the sensors in multiSensorObj whose types match type. The reference frame of multiSensorObjSubset is the same as the reference frame of multiSensorObj.

multiSensorObjSubset = subset(multiSensorObj,indices) returns a new sensor object that includes only the sensors at the specified indices in multiSensorObj. The reference frame of multiSensorObjSubset is the same as the reference frame of multiSensorObj.

Examples

Create Subset of Sensor Parameters

Load a multi-sensor parameters object. The object contains six cameras and two lidar sensors.

multiSensorObj = load("multiSensorObjPandaSet.mat").multiSensorObj

multiSensorObj = 
  multiSensorParameters with properties:

    ReferenceFrame: "vehicle"
             Count: 8
           Sensors: [8×6 table]

                                 Name              Type               MountingAngles                       MountingLocation                    Intrinsics           SensorInfo 
                         ____________________    ________    ________________________________    ____________________________________    ______________________    ____________
                
                    1    "back_camera"           "camera"      89.916      0.1733     -88.912    -0.69927     0.0013883        1.6532    {1×1 cameraIntrinsics}    {1×1 struct}
                    2    "front_camera"          "camera"     -91.555     -1.0757     -90.711      0.4035    -0.0016662        1.8104    {1×1 cameraIntrinsics}    {1×1 struct}
                    3    "front_gt"              "lidar"      -87.536     0.20817      1.3051     0.95814      0.024137        2.1652    {0×0 double          }    {1×1 struct}
                    4    "front_left_camera"     "camera"     -34.072      0.8383     -90.257      1.0874       0.62237         1.535    {1×1 cameraIntrinsics}    {1×1 struct}
                    5    "front_right_camera"    "camera"     -149.62    -0.19227     -89.611      1.0191      -0.62249        1.6058    {1×1 cameraIntrinsics}    {1×1 struct}
                    6    "left_camera"           "camera"    -0.26917     0.46213     -89.028     0.12172       0.54348         1.581    {1×1 cameraIntrinsics}    {1×1 struct}
                    7    "main_pandar64"         "lidar"           90           0           0        0.36             0          1.85    {0×0 double          }    {1×1 struct}
                    8    "right_camera"          "camera"      179.59    -0.75135     -89.148     0.12018      -0.68784        1.5548    {1×1 cameraIntrinsics}    {1×1 struct}
                
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Create a new multi-sensor parameters object that contains only the cameras from the original object.

multiCamObj = subset(multiSensorObj, "camera")

multiCamObj = 
  multiSensorParameters with properties:

    ReferenceFrame: "vehicle"
             Count: 6
           Sensors: [6×6 table]

                                 Name              Type               MountingAngles                       MountingLocation                    Intrinsics           SensorInfo 
                         ____________________    ________    ________________________________    ____________________________________    ______________________    ____________
                
                    1    "back_camera"           "camera"      89.916      0.1733     -88.912    -0.69927     0.0013883        1.6532    {1×1 cameraIntrinsics}    {1×1 struct}
                    2    "front_camera"          "camera"     -91.555     -1.0757     -90.711      0.4035    -0.0016662        1.8104    {1×1 cameraIntrinsics}    {1×1 struct}
                    3    "front_left_camera"     "camera"     -34.072      0.8383     -90.257      1.0874       0.62237         1.535    {1×1 cameraIntrinsics}    {1×1 struct}
                    4    "front_right_camera"    "camera"     -149.62    -0.19227     -89.611      1.0191      -0.62249        1.6058    {1×1 cameraIntrinsics}    {1×1 struct}
                    5    "left_camera"           "camera"    -0.26917     0.46213     -89.028     0.12172       0.54348         1.581    {1×1 cameraIntrinsics}    {1×1 struct}
                    6    "right_camera"          "camera"      179.59    -0.75135     -89.148     0.12018      -0.68784        1.5548    {1×1 cameraIntrinsics}    {1×1 struct}
                
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Input Arguments

multiSensorObj — Multi-sensor parameters object to remove

multiSensorParameters object

Multi-sensor parameters object to remove, specified as a multiSensorParameters object.

type — Type of sensor,

"camera" | "lidar" | "IMU" | "radar" | "GPS" | "ultrasonic" | "other"

Type of sensor, specified as "camera", "lidar", "IMU", "radar", "GPS", "ultrasonic", or "other".

indices — Indices of sensors to include in subset

scalar integer | M-element array of integers

Indices of sensors to include in subset, specified as a positive scalar or an M-element array of integers.

Output Arguments

multiSensorObjSubset — Subset of sensors

multiSensorObject

Subset of sensors, returned as an multiSensorObject object that stores one or more sensors and their poses relative to a common reference frame.

Version History

Introduced in R2026b