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Ground Truth Labeling

Interactive ground truth labeling of multiple signals

Use the Ground Truth Labeler app to label multiple signals representing the same scene. You can label videos, image sequences, and lidar signals such as point cloud sequences. Use labeled ground truth as training data for machine learning and deep learning models, such as object detectors or semantic segmentation networks. To automate the labeling of ground truth data, you can use a built-in automation algorithm or develop your own algorithm. The app also provides APIs for displaying additional time-synchronized signals and for loading custom data sources. To get started labeling a scene, see Get Started with the Ground Truth Labeler.

Apps

Ground Truth LabelerLabel ground truth data for automated driving applications

Functions

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groundTruthMultisignalGround truth label data for multiple signals
ROILabelDataGround truth data for ROI labels
SceneLabelDataGround truth data for scene labels
gatherLabelDataGather synchronized label data from ground truth
writeFramesWrite signal frames for ground truth data to disk
selectLabelsByLabelNameSelect multisignal ground truth by label name
selectLabelsByLabelTypeSelect multisignal ground truth by label type
selectLabelsByGroupNameSelect multisignal ground truth by label group name
selectLabelsBySignalNameSelect multisignal ground truth by signal name
selectLabelsBySignalTypeSelect multisignal ground truth labels by signal type
changeFilePathsChange file paths in multisignal ground truth data
labelTypeLabel type enumerations for labeling
attributeTypeAttribute type enumerations for labeling
labelDefinitionCreatorMultisignalObject for storing, modifying, and creating label definitions table for multisignal workflow
createCreate label definitions table from label definition creator object for multisignal workflow
infoDisplay label, sublabel, or attribute information stored in label definition creator object for multisignal workflow
addLabelAdd label to label definition creator object for multisignal workflow
addSublabelAdd sublabel to label in label definition creator object for multisignal workflow
addAttributeAdd attributes to label or sublabel in label definition creator object for multisignal workflow
editGroupNameChange group name in label definition creator object for multisignal workflow
editLabelGroupModify label group name in label definition creator object for multisignal workflow
editLabelDescriptionModify label or sublabel description in label definition creator object for multisignal workflow
editAttributeDescriptionModify attribute description in label definition creator object for multisignal workflow
removeLabelRemove label from label definition creator object for multisignal workflow
removeSublabelRemove sublabel from label in label definition creator object for multisignal workflow
removeAttributeRemove attribute from label or sublabel in label definition creator object for multisignal workflow
vision.labeler.loading.MultiSignalSourceInterface for loading signal data into Ground Truth Labeler app
vision.labeler.loading.VideoSourceLoad signals from video sources into Ground Truth Labeler app
vision.labeler.loading.ImageSequenceSourceLoad signals from image sequence sources into Ground Truth Labeler app
vision.labeler.loading.VelodyneLidarSourceLoad signals from Velodyne lidar sources into Ground Truth Labeler app
vision.labeler.loading.RosbagSourceLoad signals from rosbag sources into Ground Truth Labeler app
vision.labeler.loading.PointCloudSequenceSourceLoad signals from point cloud sequence sources into Ground Truth Labeler app
vision.labeler.loading.CustomImageSourceLoad signals from custom image sources into Ground Truth Labeler app
vision.labeler.loading.SignalTypeSignal type enumerations for labeling
vision.labeler.AutomationAlgorithmInterface for algorithm automation in ground truth labeling
checkSignalTypeValidate signal type
checkLabelDefinitionValidate label definition
settingsDialogDisplay algorithm settings (optional)
checkSetupSet up validation (optional)
initializeInitialize state for algorithm execution (optional)
runRun label automation on every frame in interval
terminateTerminate automated algorithm (optional)
vision.labeler.mixin.TemporalMixin interface for adding temporal context to automation algorithms
supportsReverseAutomationSet reverse algorithm automation flag
driving.connector.ConnectorInterface to connect external tool to Ground Truth Labeler app
frameChangeListenerUpdate external tool when new frame is displayed in Ground Truth Labeler app
dataSourceChangeListenerUpdate external tool when connecting to signal being loaded into Ground Truth Labeler app
labelLoadListenerUpdate external tool for new label data in Ground Truth Labeler app
labelDefinitionLoadListenerUpdate external tool for new label definitions in Ground Truth Labeler app
closeClose external tool connected to Ground Truth Labeler app
addLabelDataAdd custom label data at current time
queryLabelDataQuery for custom label data at current time
updateLabelerCurrentTimeUpdate current time in Ground Truth Labeler app
disconnectDisconnect external tool from Ground Truth Labeler app

Topics

Get Started

Choose an App to Label Ground Truth Data (Computer Vision Toolbox)

Decide which app to use to label ground truth data: Image Labeler, Video Labeler, Ground Truth Labeler, Lidar Labeler, Signal Labeler, or Audio Labeler.

Get Started with the Ground Truth Labeler

Interactively label multiple lidar and video signals simultaneously.

Keyboard Shortcuts and Mouse Actions for Ground Truth Labeler

Use keyboard shortcuts and mouse actions to increase productivity while using the Ground Truth Labeler app.

Load Ground Truth Data Sources

Sources vs. Signals in Ground Truth Labeling

In the Ground Truth Labeler app, a data source is a file or folder containing one or more signals to load.

Create Class for Loading Custom Ground Truth Data Sources

Learn how to create a class for loading signals from custom data sources into the Ground Truth Labeler app.

Use Custom Image Source Reader for Labeling (Computer Vision Toolbox)

Create a reader function to load a custom image data source into the Ground Truth Labeler or Video Labeler.

Control Playback of Signal Frames for Labeling

Control which signal frames display in the Ground Truth Labeler app during playback.

Label Ground Truth

Label Pixels for Semantic Segmentation (Computer Vision Toolbox)

Label pixels for training a semantic segmentation network by using a labeling app.

Label Lidar Point Clouds for Object Detection

Label lidar point clouds to use as training data for object detectors.

Use Sublabels and Attributes to Label Ground Truth Data (Computer Vision Toolbox)

Learn how ROI sublabels and attributes work in labeling apps.

View Summary of Ground Truth Labels (Computer Vision Toolbox)

View a summary of ROI and scene labels in a labeling app session.

Automate Labeling

Create Automation Algorithm for Labeling (Computer Vision Toolbox)

Create a custom automation algorithm to use in a labeling app.

Temporal Automation Algorithms (Computer Vision Toolbox)

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

Use Ground Truth Labels

Share and Store Labeled Ground Truth Data (Computer Vision Toolbox)

Share and store labeled ground truth data exported from labeling apps.

How Labeler Apps Store Exported Pixel Labels (Computer Vision Toolbox)

Learn how the labeling apps store pixel label data.

Featured Examples