Package: labelCloud
labelCloud:information_source:Interactive DocumentationA lightweight tool for labeling 3D bounding boxes in point clouds.Setup:information_source:Currently labelCloud supports Python 3.7 to 3.9.via pip (PyPI)pipinstalllabelCloud
labelCloud--example# start labelCloud with example point cloudvia git (manually)gitclonehttps://github.com/ch-sa/labelCloud.git# 1. Clone repositorypipinstall-rrequirements.txt# 2. Install requirements# 3. Copy point clouds into `pointclouds` folder.python3labelCloud.py# 4. Start labelCloudConfigure the software to your needs by editing theconfig.inifile or settings (seeConfiguration).LabelinglabelCloud supports two different ways of labeling (picking&spanning) as well as multiple mouse and keyboard options for subsequent correction.(See alsohttps://www.youtube.com/watch?v=8GF9n1WeR8Afor a short introduction and preview of the tool.)Picking ModePick the location of the bounding box (front-top edge)Adjust the z-rotation by scrolling with your mouse wheelSpanning ModeSubsequently span the length, width and height of the bounding box by selecting four verticesThe layers for for the last two vertices (width & height) will be locked to allow easy selectionCorrectionUse the buttons on the left-hand side or shortcuts to correct thetranslation,dimensionandrotationof the bounding boxResize the bounding box by holding your cursor above one side and scrolling with the mouse wheelBy default the x- and y-rotation of bounding boxes will be prohibited.
For labeling9 DoF-Bounding Boxesdeactivatez-Rotation Only Modein the menu, settings orconfig.inifile.
Now you will be free to rotate around all three axes.Semantic Segmentation (bounding box-based)labelCloud also supports the creation of segmentation labels based on bounding boxes.
To activate the semantic segmentation mode, toggle the segmentation button in the startup dialog.
Then label as usual and push theAssignbutton whenever all points inside the current bounding box
should be labeled with the current class.The resulting labels will be stored as*.binfiles insidelabels/segmentation/.
Each*.binfile contains an array of shape of (number of points, ) with dtypenp.int8and each
entry represents the index of the label of the corresponding points in the original point cloud.Import & Export OptionslabelCloud is built for a versatile use and aims at supporting all common point cloud file formats
and label formats for storing 3D bounding boxes.
The tool is designed to be easily adaptable to multiple use cases. The welcome dialog will ask for
the most common parameters (mode, classes, export format).For more configuration, edit the corresponding fields inlabels/_classes.jsonfor label
configuration orconfig.inifor general settings (seeConfiguration) for a description of all
parameters).Supported Import FormatsTypeFile FormatsColored*.pcd,*.ply,*.pts,*.xyzrgbColorless*.xyz,*.xyzn,*.bin(KITTI)Supported Export FormatsLabel FormatDescriptioncentroid_relCentroid[x, y, z]; Dimensions[length, width, height];Relative Rotations as Euler angles in radians (-pi..+pi)[yaw, pitch, roll]centroid_absCentroid[x, y, z]; Dimensions[length, width, height];Absolute Rotations as Euler angles in degrees (0..360°)[yaw, pitch, roll]vertices8 Vertices of the bounding box each with[x, y, z](seeConventionsfor order)kittiCentroid; Dimensions; z-Rotation (Seespecification); Requires calibration fileskitti_untransformedSee above, but without transformations (if you just want to use the same label structure).You can easily create your own exporter by subclassing the abstractBaseLabelFormat.
All rotations are counterclockwise (i.e. a z-rotation of 90°/π is from the positive x- to the negative y-axis!).ShortcutsShortcutDescriptionNavigationLeft Mouse ButtonRotates the camera around Point Cloud centroidRight Mouse ButtonTranslates the cameraMouse WheelZooms into the Point CloudCorrectionW,A,S,DTranslates the Bounding Box back, left, front, rightCtrl+ Right Mouse ButtonTranslates the Bounding Box in all dimensionsQ,ELifts the Bounding Box up, downZ,XRotates the Boundign Box around z-AxisC,VRotates the Boundign Box around y-AxisB,NRotates the Boundign Box around x-AxisScrolling with the Cursor above a Bounding Box Side ("Side Pulling")Changes the Dimension of the Bounding BoxR/Left,F/RightPrevious/Next sampleT/Up,G/DownPrevious/Next bboxY/,,H/.Change current bbox class to previous/next in list1-9Select any of first 9 bboxes with number keysGeneralDelDeletes Current Bounding BoxP/HomeResets PerspectiveEscCancels Selected PointsSeeConventionsfor the principles on which the
software is built.Usage & AttributionWhen using the tool feel free to drop me a mail with feedback or a description of your use case (christoph.sager[at]tu-dresden.de).
If you are using the tool for a scientific project please consider citing ourpublication:# CAD Journal
@article{Sager_2022,
    doi = {10.14733/cadaps.2022.1191-1206},
    url = {http://cad-journal.net/files/vol_19/CAD_19(6)_2022_1191-1206.pdf},
    year = 2022,
    month = {mar},
    publisher = {{CAD} Solutions, {LLC}},
    volume = {19},
    number = {6},
    pages = {1191--1206},
    author = {Christoph Sager and Patrick Zschech and Niklas Kuhl},
    title = {{labelCloud}: A Lightweight Labeling Tool for Domain-Agnostic 3D Object Detection in Point Clouds},
    journal = {Computer-Aided Design and Applications}
} 

# CAD Conference
@misc{sager2021labelcloud,
  title={labelCloud: A Lightweight Domain-Independent Labeling Tool for 3D Object Detection in Point Clouds}, 
  author={Christoph Sager and Patrick Zschech and Niklas Kühl},
  year={2021},
  eprint={2103.04970},
  archivePrefix={arXiv},
  primaryClass={cs.CV}
}AcknowledgmentI would like to thank theRobotron RCV-Teamfor the support in the
preparation and user evaluation of the software.
The software was developed as part of my diploma thesis titled "labelCloud: Development of a
Labeling Tool for 3D Object Detection in Point Clouds" at theChair for Business Informatics, especially Intelligent Systemsof the TU Dresden. The ongoing research can be followed in ourproject on ResearchGate.