Create Automation Algorithm for Labeling
The Lidar Labeler app enables you to label ground truth for a variety of data sources. You can use an automation algorithm to automatically label your data by creating and importing a custom automation algorithm.
Create New Algorithm
The lidar.labeler.AutomationAlgorithm
class enables you to define a custom
label automation algorithm for use in the Lidar Labeler
app. You can use the class to define the interface used by the app to run an automation
algorithm.
To define and use a custom automation algorithm, you must first define a class for your algorithm and save it to the appropriate folder.
Create Automation Folder
Create a +lidar/+labeler/
folder within a folder that is on the MATLAB® path. For example, if the folder /local/MyProject
is on the MATLAB path, then create the +lidar/+labeler/
folder
hierarchy as
follows:
projectFolder = fullfile('local','MyProject'); automationFolder = fullfile('+lidar','+labeler'); mkdir(projectFolder,automationFolder)
/local/MyProject/+lidar/+labeler
.Define Class That Inherits from AutomationAlgorithm
Class
At the MATLAB command prompt, enter the command: lidarLabeler
to open the Lidar Labeler app.
Then, load a data source, create at least one
label definition, and on the app toolstrip, select Select Algorithm > Add Algorithm > Create New Algorithm. In the lidar.labeler.AutomationAlgorithm
class template that opens, define
your custom automation algorithm. Follow the instructions in the header and comments
in the class.
If the algorithm is
time-dependent, that is, has a dependence on the
timestamp of execution, your custom automation algorithm must also inherit from the
lidar.labeler.mixin.Temporal
class. For more details on implementing
time-dependent, or temporal, algorithms, see Temporal Automation Algorithms.
Save Class File to Automation Folder
To use your custom algorithm from within the
labeling app, save the file to the +lidar/+labeler
folder that
you created. Make sure that this folder is on the MATLAB search path. To add a folder to the path, use the addpath
function.
Refresh Algorithm List in Labeling App
To start using your custom algorithm, refresh the algorithm list so that the algorithm displays in the app. On the app toolstrip, select Select Algorithm > Refresh list.
Import Existing Algorithm
To import an existing custom algorithm into a labeling app, on the app toolstrip, select Select Algorithm > Add Algorithm > Import Algorithm and then refresh the list.
Custom Algorithm Execution
When you run an automation session in a labeling app, the properties and methods in your automation algorithm class control the behavior of the app.
Check Label Definitions
When you click Automate, the
app checks each label definition in the ROI Labels and
Scene Labels panes by using the checkLabelDefinition
method defined in your custom algorithm. Label
definitions that return true
are retained for automation. Label
definitions that return false
are disabled and not included. Use
this method to choose a subset of label definitions that are valid for your custom
algorithm. For example, if your custom algorithm is a semantic segmentation
algorithm, use this method to return false
for label definitions
that are not of type Voxel
.
Control Settings
After you select the algorithm, click
Automate to start an automation session. Then, click
Settings, which enables you to modify custom app settings.
To control the Settings options, use the settingsDialog
method.
Control Algorithm Execution
When you open an automation algorithm session in the app and then click
Run, the app calls the checkSetup
method
to check if it is ready for execution. If the method returns
false
, the app does not execute the automation algorithm. If
the method returns true
, the app calls the
initialize
method and then the run
method on
every frame selected for automation. Then, at the end of the automation run, the app
calls the terminate
method.
The diagram shows this flow of execution for the labeling apps.
Use the
checkSetup
method to check whether all conditions needed for your custom algorithm are set up correctly. For example, before running the algorithm, check that the scene contains at least one ROI label.Use the
initialize
method to initialize the state for your custom algorithm by using the frame.Use the
run
method to implement the core of the algorithm that computes and returns labels for each frame.Use the
terminate
method to clean up or terminate the state of the automation algorithm after the algorithm runs.
See Also
Apps
- Video Labeler | Image Labeler | Ground Truth Labeler (Automated Driving Toolbox) | Lidar Labeler
Functions
Related Topics
- Automate Ground Truth Labeling For Vehicle Detection Using PointPillars
- Automate Ground Truth Labeling for Lidar Point Cloud Semantic Segmentation Using Lidar Labeler