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Semantic Segmentation Editor

A web based labeling tool for creating AI training data sets (2D and 3D). The tool has been developed in the context of autonomous driving research. It supports images (.jpg or .png) and point clouds (.pcd). It is a Meteor app developed with React, Paper.js and three.js.

Bitmap Image Editor

:movie_camera: VIDEO: Bitmap labeling overview

:rocket: DEMO: Bitmap editor

PCD Point Cloud Editor

:movie_camera: VIDEO: Point cloud labeling overview

:rocket: DEMO: Point cloud editor

How to run

Install Meteor (OSX or Linux)

curl https://install.meteor.com/ | sh

or download Meteor Windows Installer

Download and unzip latest version from here

Start the application

cd semantic-segmentation-editor-x.x.x
meteor npm install
meteor npm start

The editor will run by default on http://localhost:3000

(Optional) Edit settings.json

By default, images are served from <code>your_home_dir/sse-images</code> and pointcloud binary segmentation data are stored in <code>your_home_dir/sse-internal</code>. You can configure these folders in settings.json by modifying <code>images-folder</code> and <code>internal-folder</code> properties. On Windows, use '/' separators, example <code>c:/Users/john/images</code>

Check Meteor Environment Variables to configure your app (MONGO_URL, DISABLE_WEBSOCKETS, etc...)

Running the app using Docker

A Docker image of v1.0.0 is available here

To run it:

docker pull hitachiail/semantic-segmentation-editor
docker run -it -p PORT:3000 -v INPUT_FOLDER:/mnt/images -v OUTPUT_FOLDER:/mnt/pcd hitachiail/semantic-segmentation-editor:latest

Replace <code>PORT</code>, <code>INPUT_FOLDER</code> and <code>OUTPUT_FOLDER</code> according to your needs.

Configuration File: settings.json

{
  "configuration": {
    "images-folder": "/mnt/images", // The root folder containing images and PCD files
    "internal-folder": "/mnt/pointcloud_data" // Segmentation data (only 3D) will be stored in this folder
  },
  // The different sets of classes available in the tool
  // For object classes, only the 'label' field is mandatory
  // The icon field can be set with an icon from the mdi-material-ui package
  "sets-of-classes": [
    {
      "name": "Cityscapes", "objects": [
      {"label": "VOID", "color": "#CFCFCF"},
      {"label": "Road", "color": "#804080", "icon": "Road"},
      {"label": "Sidewalk", "color": "#F423E8", "icon": "NaturePeople"},
      {"label": "Parking", "color": "#FAAAA0", "icon": "Parking"},
      {"label": "Rail Track", "color": "#E6968C", "icon": "Train"},
      {"label": "Person", "color": "#DC143C", "icon": "Walk"},
      {"label": "Rider", "color": "#FF0000", "icon": "Motorbike"},
      {"label": "Car", "color": "#0000E8", "icon": "Car"}
    },
    { ... }
  ]
}

How to use

The editor is built around 3 different screens:

The file navigator let's you browse available files to select a bitmap images or a point cloud for labeling <img width="300" src="https://github.com/dmandrioli/sse-extra/raw/master/CaptureN1.jpg"/>

The bitmap image editor is dedicated to the labeling of jpg and png files by drawing polygons <img width="300" src="https://github.com/dmandrioli/sse-extra/raw/master/Capture2D2.jpg"/>

The point cloud editor is dedicated to the labeling of point clouds by creating objects made of subsets of 3D points <img width="300" src="https://github.com/dmandrioli/sse-extra/raw/master/Capture3D3.jpg"/>

Using the bitmap image editor

There are several tools to create labeling polygons:

Polygon Drawing Tool (P)

Click and/or drag to create points
Type ESC to remove last created points in reverse order
Drag the mouse pointer or hold Shift to create a complex polygon without having to click for each point
Type ENTER or double click the first point to close the polygon

Magic Tool (A)

Create a polygon automatically using contrast threshold detection
This tool is only useful to draw the outline of objects that have sharp contrasted edges (examples: sky, lane marking)
Click inside the area you want to outline, then adjusts any sliders on the right to adjust the result
Type ENTER to validate the result

Manipulation Tool (Alt)

Select, move and add point(s) to existing polygons
Click inside a polygon to select it
Click a point to select it
Draw a lasso around multiple points to select them
Drag a point with the mouse to move it
Hold Shift to separate points that belongs to more than one polygon
Click the line of a polygon to create a new point and drag the newly created point to place it

Cutting/Expanding Tool (C)

Modify the shape of an existing polygon
Select the polygon you want to modify
Draw a line starting and ending on the outline of a polygon
The new line replace the existing path between starting and ending points
The resulting shape is always the largest one

Contiguous Polygon Tool (F)

Create contiguous polygons easily</p>
Start a new polygon with the Polygon Drawing Tool</p>
Create the starting point by snapping to the outline of the polygon you want to workaround
Create the ending point by snapping to another outline, at this point you must have a straight line crossing one or more existing polygons
Hit F one or several times to choose what workaround path to use

Using the point cloud editor

Mouse left button: Rotate the point cloud around the current focused point (the center of the point cloud by default), clickon a single point to add it to the current selection
Mouse wheel: Zoom in/out
Mouse middle button (or Ctrl+Click): Change the target of the camera
Mouse right button: Used to select multiple points at the same time depending on the current Selection Tool and Selection Mode.

API Endpoints

<code>/api/listing</code>: List all annotated images
<code>/api/json/[PATH_TO_FILE]</code>: (2D only) Get the polygons and other data for that file
<code>/api/pcdtext/[PATH_TO_FILE]</code>: (3D only) Get the labeling of a pcd file using 2 addditional columns: <code>label</code> and <code>object</code>
<code>/api/pcdfile/[PATH_TO_FILE]</code>: (3D only) The same but returned as "plain/text" attachment file download