Main Content

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.

Lidar Labeler App

Apps

Lidar LabelerLabel ground truth data in lidar point clouds (Since R2020b)

Functions

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Use Lidar Labels

groundTruthLidarLidar ground truth label data (Since R2020b)
selectLabelsSelect ground truth data by label name or type (Since R2020b)
selectLabelsByGroupSelect ground truth data by label group name (Since R2020b)
selectLabelsByNameSelect ground truth data by label name (Since R2020b)
selectLabelsByTypeSelect ground truth data by label type (Since R2020b)
changeFilePathsChange file paths in ground truth data (Since R2020b)
labelTypeLabel type enumerations for labeling
lidarLabelTypeLidar label type enumerations for labeling (Since R2022a)
attributeTypeAttribute type enumerations for labeling

Create Label Definitions

labelDefinitionCreatorLidarStore, modify, and create label definitions tables for lidar (Since R2020b)
addAttributeAdd attribute to label in label definition creator for lidar workflow (Since R2020b)
addLabelAdd label to label definition creator object for lidar workflow (Since R2020b)
createCreate label definitions table from label definition creator object for lidar workflow (Since R2020b)
editAttributeDescriptionModify attribute description in label definition creator object for lidar workflow (Since R2020b)
editGroupNameChange group name in label definition creator for lidar workflow (Since R2020b)
editLabelDescriptionModify label description in label definition creator for lidar workflow (Since R2020b)
editLabelGroupModify label group name in label definition creator object for lidar workflow (Since R2020b)
infoDisplay label or attribute information stored in label definition creator for lidar workflow (Since R2020b)
removeAttributeRemove attribute from label in label definition creator for lidar workflow (Since R2020b)
removeLabelRemove label from label definition creator for lidar workflow (Since R2020b)

Load Ground Truth Data Sources

vision.labeler.loading.MultiSignalSourceInterface for loading signal data into Lidar Labeler app (Since R2020b)
vision.labeler.loading.PointCloudSequenceSourceLoad signals from point cloud sequence sources into Lidar Labeler app (Since R2020b)
vision.labeler.loading.VelodyneLidarSourceLoad signals from Velodyne lidar sources into Lidar Labeler app (Since R2020b)
lidar.labeler.loading.LasFileSequenceSourceLoad signals from LAS or LAZ file sequence sources into Lidar Labeler app (Since R2020b)
lidar.labeler.loading.RosbagSourceLoad signals from rosbag sources into Lidar Labeler app (Since R2020b)
lidar.labeler.loading.CustomPointCloudSourceLoad point cloud data from custom sources into Lidar Labeler app (Since R2021a)

Sync External Image Viewer

lidar.syncImageViewer.SyncImageViewerInterface to connect external tool to Lidar Labeler app (Since R2020b)
dataSourceChangeListener Update external tool when connecting to signal being loaded into Lidar Labeler app (Since R2020b)
frameChangeListener Update external tool when new frame is displayed in Lidar Labeler app (Since R2020b)
updateLabelerCurrentTimeUpdate current time in Lidar Labeler app (Since R2020b)
close Close external tool connected to Lidar Labeler app (Since R2020b)
disconnect Disconnect external tool from Lidar Labeler app (Since R2020b)

Action Flags

initializeInitialize state for algorithm execution (optional) (Since R2022a)
runRun label automation on every frame in interval (Since R2022a)
terminateTerminate automated algorithm (optional) (Since R2022a)

Validation

checkSetupSet up validation (optional) (Since R2022a)
checkSignalTypeValidate signal type (Since R2022a)
checkLabelDefinitionValidate label definition (Since R2022a)

Algorithm

lidar.labeler.AutomationAlgorithmInterface for algorithm automation in ground truth labeling (Since R2022a)
settingsDialogDisplay algorithm settings (optional) (Since R2022a)
lidar.labeler.mixin.TemporalMixin interface for adding temporal context to automation algorithms (Since R2022a)

Topics

Get Started

Automate Labeling