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Labeling

Interactive ground truth labeling in lidar point clouds

Use the Lidar Labeler app to interactively label ground truth data in a lidar point cloud or point cloud sequence. You can define cuboid regions of interests (ROIs) and use them to interactively label ground truth data. Use labeled lidar point clouds to train deep learning models. To automate the labeling process, you can use a built-in automation algorithm or develop your own algorithm. The app also provides APIs for categorizing labels and for creating label definitions. To start labeling an object, see Get Started with the Lidar Labeler.

Lidar Labeler App

Apps

Lidar LabelerLabel ground truth data in lidar point clouds

Functions

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groundTruthLidarLidar ground truth label data
selectLabelsSelect ground truth data by label name or type
selectLabelsByGroupSelect ground truth data by label group name
selectLabelsByNameSelect ground truth data by label name
selectLabelsByTypeSelect ground truth data by label type
changeFilePathsChange file paths in ground truth data
labelTypeLabel type enumerations for labeling
attributeTypeAttribute type enumerations for labeling
labelDefinitionCreatorLidarStore, modify, and create label definitions tables for lidar
addAttributeAdd attribute to label in label definition creator for lidar workflow
addLabelAdd label to label definition creator object for lidar workflow
createCreate label definitions table from label definition creator object for lidar workflow
editAttributeDescriptionModify attribute description in label definition creator object for lidar workflow
editGroupNameChange group name in label definition creator for lidar workflow
editLabelDescriptionModify label description in label definition creator for lidar workflow
editLabelGroupModify label group name in label definition creator object for lidar workflow
infoDisplay label or attribute information stored in label definition creator for lidar workflow
removeAttributeRemove attribute from label in label definition creator for lidar workflow
removeLabelRemove label from label definition creator for lidar workflow
vision.labeler.loading.MultiSignalSourceInterface for loading signal data into Lidar Labeler app
vision.labeler.loading.PointCloudSequenceSourceLoad signals from point cloud sequence sources into Lidar Labeler app
vision.labeler.loading.VelodyneLidarSourceLoad signals from Velodyne lidar sources into Lidar Labeler app
lidar.labeler.loading.LasFileSequenceSourceLoad signals from LAS or LAZ file sequence sources into Lidar Labeler app
lidar.labeler.loading.RosbagSourceLoad signals from rosbag sources into Lidar Labeler app
lidar.labeler.loading.CustomPointCloudSourceLoad point cloud data from custom sources into Lidar Labeler app
lidar.syncImageViewer.SyncImageViewerInterface 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
updateLabelerCurrentTimeUpdate current time in Lidar Labeler app
close Close external tool connected to Lidar Labeler app
disconnect Disconnect external tool from Lidar Labeler app

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.

Automate Ground Truth Labeling For Vehicle Detection Using PointPillars

This example shows how to automate vehicle detections in a point cloud using a pretrained PointPillars object detection network in the Lidar Labeler.

Temporal Automation Algorithms

Create a time-based custom tracking algorithm to import into a labeling app.

Lidar Toolbox Documentation

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