As seen in the UI for `Perception Camera`, the list of `Camera Lebelers` is currently empty. For each type of ground-truth you wish to generate along-side your captured frames (e.g. 2D bounding boxes around objects), you will need to add a corresponding `Camera Labeler` to this list.
To speed-up your perception workflow, the Perception package comes with four common labelers for object-detection tasks; however, if you are comfortable with code, you can also add your own custom labelers. The labelers that come with the Perception package cover **2D bounding boxes, object counts, object information (pixel counts and ids), and semantic segmentation images (each object rendered in a unique colour)**.
To speed-up your perception workflow, the Perception package comes with five common labelers for object-detection tasks; however, if you are comfortable with code, you can also add your own custom labelers. The labelers that come with the Perception package cover **3D bounding boxes, 2D bounding boxes, object counts, object information (pixel counts and ids), and semantic segmentation images (each object rendered in a unique colour)**. We will use four of these in this tutorial.
* **Action**: Click on the _**+**_ button to the bottom right corner of the empty labeler list, and select `BoundingBox2DLabeler`.
* **Action**: Click on the _**+**_ button at the bottom right corner of the empty labeler list, and select `BoundingBox2DLabeler`.
* **Action**: Repeat the above step to add `ObjectCountLabeler`, `RenderedObjectInfoLabeler`, `SemanticSegmentationLabeler`.
Once you add the labelers, the _**Inspector**_ view of the `Perception Camera` component will look like this:
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One of the useful features that comes with the `Perception Camera` component is the ability to display real-time visualizations of the labelers when your simulation is running. For instance, `BoundingBox2DLabeler` can display bounding boxes around the foreground objects that it tracks in real-time and `SemanticSegmentationLabeler` displays the semantic segmentation image overlaid on top of the camera's view . To enable this feature, make sure the `Show Labeler Visualizations` checkmark is enabled.
One of the useful features that comes with the `Perception Camera` component is the ability to display real-time visualizations of the labelers when your simulation is running. For instance, `BoundingBox2DLabeler` can display two-dimensional bounding boxes around the foreground objects that it tracks in real-time and `SemanticSegmentationLabeler` displays the semantic segmentation image overlaid on top of the camera's view . To enable this feature, make sure the `Show Labeler Visualizations` checkmark is enabled.
### <aname="step-4">Step 4: Specify Ground-Truth and Setup Object Labels</a>
Mohsen Kamalzadeh