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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.

Ground Truth Labeler app with multiple signals loaded

Apps

Ground Truth LabelerLabel ground truth data for automated driving applications

Functions

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Load Data

groundTruthMultisignalGround truth label data for multiple signals
ROILabelDataGround truth data for ROI labels
SceneLabelDataGround truth data for scene labels
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

Create Label Definitions

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

Add

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

Edit

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

Remove

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

Action Flags

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

Validation

checkSetupSet up validation (optional)
checkSignalTypeValidate signal type
checkLabelDefinitionValidate label definition
supportsMultisignalAutomationSet multisignal algorithm automation flag

Algorithm

vision.labeler.AutomationAlgorithmInterface for algorithm automation in ground truth labeling
settingsDialogDisplay algorithm settings (optional)
vision.labeler.mixin.TemporalMixin interface for adding temporal context to automation algorithms
supportsReverseAutomationSet reverse algorithm automation flag

Store Data

groundTruthMultisignalGround truth label data for multiple signals
ROILabelDataGround truth data for ROI labels
SceneLabelDataGround truth data for scene labels
changeFilePathsChange file paths in multisignal ground truth data

Select Labels

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

Enumerate Attribute and Label Types

labelTypeLabel type enumerations for labeling
attributeTypeAttribute type enumerations for labeling

Create Training Data

gatherLabelDataGather synchronized label data from ground truth
writeFramesWrite signal frames for ground truth data to disk
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

Load Ground Truth Data Sources

Label Ground Truth

Automate Labeling

Use Ground Truth Labels