Labeling

Interactive point cloud labeling for object detection, semantic segmentation, and classification

Use the Lidar Labeler app to interactively label ground truth data in a point cloud or a point cloud sequence. You can label cuboids and polylines for object detection, voxels for semantic segmentation, and scenes for point cloud classification.

The app provides algorithms to automate the labeling process for object tacking and interpolation. You can use one of the included algorithms or create and import a custom automation algorithm. For more information, see Create Automation Algorithm for Labeling.

For information on how to start labeling a point cloud sequence, see Get Started with the Lidar Labeler.

You can also use Lidar Toolbox™ functions to define labels and programmatically automate the labeling process.

Apps

Lidar Labeler

Label ground truth data in lidar point clouds

Functions

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Create Labels and Label Definitions

Use Lidar Labels

`groundTruthLidar`	Lidar ground truth label data
`selectLabels`	Select ground truth data by label name or type
`selectLabelsByGroup`	Select ground truth data by label group name
`selectLabelsByName`	Select ground truth data by label name
`selectLabelsByType`	Select ground truth data by label type
`changeFilePaths`	Change file paths in ground truth data
`labelType`	Label type enumerations for labeling
`lidarLabelType`	Lidar label type enumerations for labeling
`attributeType`	Attribute type enumerations for labeling

Create Label Definitions

`labelDefinitionCreatorLidar`	Store, modify, and create label definitions tables for lidar
`addAttribute`	Add attribute to label in label definition creator for lidar workflow
`addLabel`	Add label to label definition creator object for lidar workflow
`create`	Create label definitions table from label definition creator object for lidar workflow
`editAttributeDescription`	Modify attribute description in label definition creator object for lidar workflow
`editGroupName`	Change group name in label definition creator for lidar workflow
`editLabelDescription`	Modify label description in label definition creator for lidar workflow
`editLabelGroup`	Modify label group name in label definition creator object for lidar workflow
`info`	Display label or attribute information stored in label definition creator for lidar workflow
`removeAttribute`	Remove attribute from label in label definition creator for lidar workflow
`removeLabel`	Remove label from label definition creator for lidar workflow

Load Ground Truth Data Sources

`vision.labeler.loading.MultiSignalSource`	Interface for loading signal data into Lidar Labeler app
`vision.labeler.loading.PointCloudSequenceSource`	Load signals from point cloud sequence sources into Lidar Labeler app
`vision.labeler.loading.VelodyneLidarSource`	Load signals from Velodyne lidar sources into Lidar Labeler app
`lidar.labeler.loading.LasFileSequenceSource`	Load signals from LAS or LAZ file sequence sources into Lidar Labeler app
`lidar.labeler.loading.RosbagSource`	Load signals from rosbag sources into Lidar Labeler app
`lidar.labeler.loading.CustomPointCloudSource`	Load point cloud data from custom sources into Lidar Labeler app

Sync External Image Viewer

`lidar.syncImageViewer.SyncImageViewer`	Interface to connect external tool to Lidar Labeler app
`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

Automate Labeling

Action Flags

`initialize`	Initialize state for algorithm execution (optional)
`run`	Run label automation on every frame in interval
`terminate`	Terminate automated algorithm (optional)

Validation

`checkSetup`	Set up validation (optional)
`checkSignalType`	Validate signal type
`checkLabelDefinition`	Validate label definition

Algorithm

`lidar.labeler.AutomationAlgorithm`	Interface for algorithm automation in ground truth labeling
`settingsDialog`	Display algorithm settings (optional)
`lidar.labeler.mixin.Temporal`	Mixin interface for adding temporal context to automation algorithms

Topics

Get Started

Get Started with the Lidar Labeler
Interactively label a point cloud or point cloud sequence.
Keyboard Shortcuts and Mouse Actions for Lidar Labeler
Use keyboard shortcuts and mouse actions to increase productivity while using the Lidar Labeler app.
Use Custom Point Cloud Source Reader for Labeling
Create a reader function to load a custom image data source into the Lidar Labeler.
Connect Image Display to Lidar Labeler

Automate Labeling

Create Automation Algorithm for Labeling
Create a custom automation algorithm to use in a labeling app.
Temporal Automation Algorithms
Create a time-based custom tracking algorithm to import into a labeling app.

Featured Examples

Automate Ground Truth Labeling For Vehicle Detection Using PointPillars

Automate vehicle detections in a point cloud using a pretrained pointPillarsObjectDetector in the Lidar Labeler app. The example uses the AutomationAlgorithm interface in the Lidar Labeler app to automate labeling.

Open Live Script

Automate Ground Truth Labeling for Lidar Point Cloud Semantic Segmentation Using Lidar Labeler

Automate semantic labeling in a point cloud using a pretrained semantic segmentation network in the Lidar Labeler app. In this example, you can use the AutomationAlgorithm class to automate labeling in the Lidar Labeler app.

Open Live Script