> For the complete documentation index, see [llms.txt](https://docs.imerit.net/llms.txt). Markdown versions of documentation pages are available by appending `.md` to page URLs; this page is available as [Markdown](https://docs.imerit.net/3d-multi-sensor-fusion/3d-msf-ango-export-format-documentation.md).
# Copy 3D MSF Ango Export - Format Documentation
This folder documents an annotation export from **iMerit Ango Hub** for a **3D LiDAR point-cloud labeling** task. It is organised in three parts:
1. **Everything in** `export.json` - the primary annotation file.
2. **The raw downloads** - how to get the heavy delivery bundle.
3. **The raw files, one by one** - what each unzipped file contains.
**Reference docs:**
* [Exporting annotations](https://docs.imerit.net/data/importing-and-exporting-annotations/exporting-annotations)
* [Ango export format](https://docs.imerit.net/data/importing-and-exporting-annotations/exporting-annotations/ango-export-format)
### Part 1 - Everything in export.json
`export.json` is the **Ango Export Format** file. It is a **JSON array**, where each element is one **asset** (one source point cloud). This file has **1 asset**.
This export's asset has **3 annotated objects**, drawn with **two tools**, so two `object_type` values appear:
| object\_type | markingTool | What it is | Geometry stored in |
| -------------- | -------------- | -------------------------------------------- | ------------------------------------ |
| `brush_sphere` | `Brush Sphere` | 3D semantic brush (painted points) | the labeled points in `delivery.las` |
| `polygongroup` | `Polygon` | A closed polygon outline (group of vertices) | the `points` array inside `pct` |
#### 1.1 Asset-level keys
| Key | Meaning |
| ------------- | ------------------------------------------------------------------ |
| `asset` | Path/URL of the source asset (the point-cloud folder). |
| `assetId` | Unique Ango ID of the asset. |
| `externalId` | Your own ID for the asset (here the source filename hash). |
| `contextData` | Custom context passed in at import time (Not used in PCT). |
| `metadata` | Custom asset-level key/value pairs (not used in PCT). |
| `batches` | Names of batches the asset belongs to |
| `task` | The main object holding all annotations + workflow data (see 1.2). |
#### 1.2 The task object
| Key | Meaning |
| -------------------------------------- | ----------------------------------------------------------------------------------------- |
| `taskId` | Unique ID of the task. |
| `type` | Task category (`default`). |
| `stage` / `stageId` | Current workflow stage (`Complete`). |
| `updatedAt` | Timestamp of last change. |
| `updatedBy` | Email of the last user to edit the task. |
| `totalDuration` | Total working time on the task, in **milliseconds**. |
| `duration` | Time spent in the current stage, in ms. |
| `totalIdleDuration` | Total idle time, in ms. |
| `rawPctExport` | **Signed S3 URL to the raw download** (`deliverables.zip`). This is the bridge to Part 2. |
| `tools` | Array of **annotation objects** -the actual labels (see 1.4). |
| `classifications` | **Frame-level** classifications about the whole scene (see 1.3). |
| `relations` | Relationships/links between objects (e.g. tracking) |
| `brushDataUrl` / `medicalBrushDataUrl` | Not required in PCT |
| `stageHistory` | Snapshots of the annotations at the end of each workflow stage (see 1.6). |
#### 1.3 task.classifications\[] - frame-level attributes
Answered once for the whole frame/asset (not per object).
| title | tool | Example answer |
| -------------- | ----------------- | -------------- |
| `is_dusty` | `single-dropdown` | `["None"]` |
| `Image Status` | `single-dropdown` | `["None"]` |
#### 1.4 tools\[] - one entry per annotated object
| Key | Meaning |
| ----------------- | ------------------------------------------------------------------------------- |
| `objectId` | Unique ID (UUID) of this annotation object. |
| `title` | Label class name (`Tall Weeds`, `Trees`, `Immovable Objects`). |
| `schemaId` | ID of the **class/label schema** this object belongs to. |
| `markingTool` | The drawing tool used (`Brush Sphere` or `Polygon` or `Cuboid` or `Rectangle`). |
| `page` | Frame/page index within the asset (`"1"`). |
| `metadata` | Per-object metadata (creation info). |
| `classifications` | Per-object attributes (see 1.4.1). |
| `pct` | The annotation payload incl. geometry (see 1.5). |
**1.4.1 classifications\[] (per-object attributes)**
| Key | Meaning | Example |
| ---------- | --------------------------------------- | ---------------------------------------------------- |
| `schemaId` | Schema ID of this attribute. | - |
| `tool` | Attribute input type. | `boolean`, `single-dropdown` |
| `title` | Attribute name. | `is_truncated`, `occlusion`, `location` |
| `answer` | The selected value(s), always an array. | `[false]`, `["none"]`, `["In-field Driveable area"]` |
#### 1.5 The pct payload (depends on object\_type)
**Common keys (all object types):**
| Key | Meaning |
| ----------------------------------------------------------------- | ------------------------------------------------------------------------------------------------------------------------------------- |
| `label` | Schema ID of the object's class (matches `schemaId`). |
| `_id` | Composite key: `task__`. |
| `id` | The object UUID. |
| `object_type` | Geometry type - `brush_sphere` or `polygongroup` or `cuboid` or `rectangle` or `polygon2d`. |
| `identity` | Instance number for that class on the frame (1, 2, 3…). |
| `taxonomy_attribute` | `attributeSchemaId → answer` (boolean, or an **option ID** for dropdowns). Machine-readable form of the per-object `classifications`. |
| `image` - only applicable for `rectangle`and `polygon2d` | imagename.jpg or png |
| `reference_folder`-only applicable for `rectangle`and `polygon2d` | image folder name |
`brush_sphere` **only:** `classified_count` - count of sub-classifications. The painted points themselves are baked into `delivery.las`, not stored here.
`polygongroup` **only:**
| Key | Meaning |
| ------------- | --------------------------------------------------------------------------------------------------------------------------------------------------------------------- |
| `position` | Group origin `[x, y, z]`. |
| `orientation` | Group rotation quaternion `[x, y, z, w]`. |
| `points[]` | Ordered polygon vertices, each `{ "position": { x, y, z } }`. Coordinates are in the tool's normalized plane (z ≈ 0), projected into 3D via `position`/`orientation`. |
`cuboid` **only:**
| Key | Meaning |
| ------------- | ----------------------------------------------------------------------- |
| `position` | Group origin `[x, y, z]`. |
| `orientation` | Group rotation quaternion `[x, y, z, w]`. |
| `dimension` | Group measurement \[width, height, depth], or in 3D space as \[x, y, z] |
`rectangle` **only:**
| Key | Meaning |
| --------------- | ------------------------------------------------------------------------------------------- |
| `coordinates[]` | Array of points defining a shape or position in 2D space or image, each with x and y values |
`polygon2d` **only:**
| Key | Meaning |
| --------------- | ------------------------------------------------------------------------------------------- |
| `coordinates[]` | Array of points defining a shape or position in 2D space or image, each with x and y values |
`polyline2d` **only:**
| Key | Meaning |
| ---------------- | ------------------------------------------------------------------------------------------- |
| `position` | Group origin `[x, y, z]`. |
| `orientation` | Group rotation quaternion `[x, y, z, w]`. |
| `points[]` | NA - It will be always empty \[] |
| `coordinates`\[] | Array of points defining a shape or position in 2D space or image, each with x and y values |
#### 1.6 stageHistory\[] - workflow audit trail
Each element is a snapshot of one stage (`Start → Label → … → Complete`).
| Key | Meaning |
| ----------------------------------------- | -------------------------------------------------------------------------------------- |
| `stage` / `stageId` | Stage name/ID. |
| `duration` / `idleDuration` | Time (ms) spent / idle in that stage. |
| `completedAt` / `completedBy` | When and by whom the stage was finished. |
| `tools` / `classifications` / `relations` | Snapshot of the annotations as they were at the end of that stage (same shape as 1.4). |
| `brushDataUrl` / `medicalBrushDataUrl` | Not required for PCT |
| `taskHistory` | Internal reference (`_id`) to that stage's stored state. |
### Part 2 - The raw downloads
The `task.rawPctExport` field (Part 1.2) holds a **temporary signed S3 URL**. Downloading it gives `deliverables.zip` - the raw delivery bundle that holds the heavy data `export.json` only references.
Unzipped, it contains **one folder per task** (here `1/`) with **three raw files**:
`deliverables.zip → 1/ ├── delivery.las (the labeled point cloud) ├── tool_output_json (full internal editor state) └── pct_annotation_output (compact annotation summary)`
**Note:** The signed URLs (`rawPctExport`, and the point-cloud links inside the files) are temporary AWS pre-signed links and expire \~1h after generation.
### Part 3 - The raw files, one by one
#### 3.1 delivery.las
The **labeled LiDAR point cloud** - LAS v1.4, **XXX points** (\~XX MB), generated by LASzip. It is the original cloud with the **brush annotations baked into point classification** (each point carries which object/class it belongs to). This is where every `brush_sphere` object's actual painted geometry lives - `export.json` only stores the brush's metadata, not its points.
#### 3.2 tool\_output\_json
The **full internal editor state** (richer than `export.json`). Top-level keys: `operation`, `output`, `tasks`.
**operation** - the editing session / batch state:
| Key | Meaning |
| ---------------------------------------------------------- | ---------------------------------------------------- |
| `_id`, `batch_code`, `upstreamnode` | Batch and pipeline-node identifiers. |
| `annIdentity` / `batch_seq_no` / `incarnation_num` | Internal identity/versioning counters. |
| `emp_code` | Annotator email. |
| `node_id` / `node_type` / `stage_name` | Current workflow node (`Label`). |
| `ack_time` / `updateTimeStamp` / `ready` | Session timing and ready flag. |
| `activeFrame` / `lastReachFrame` | Frame the editor was on / furthest reached. |
| `camera` | Saved 3D camera pose (position, yaw, pitch, radius). |
| `viewSettings` | Saved viewport/render settings. |
| `categorySchemaVersionId` | Version of the label taxonomy used. |
| `customData[]` | Editor config & state (see list below). |
| `feedback`, `submit_status`, `engagement_code`, `job_code` | QA feedback, submission state, project/job codes. |
`customData[]` keys: `annColorCode`, `identityList` (object count per class), `renderMode` (gamma/brightness/point-color), `pointSizeMode`, `staticSizeIdentities`, `configPanelSettings`, `batchAttributes`, `reviewCheckmarks` (per-object QA history), `attributeColors`, `volumeIndexes`, `globalStatus`, `brushSize`.
**output\[]** - one record per object (richest geometry). Mostly annotated objects; one is a **form-input** record (a task-form answer).
Annotated object record:
| Key | Meaning |
| -------------------------------------------------------------------------------------------- | ---------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- |
| `_id` / `id` | Composite key / object UUID. |
| `identity` | Instance number for the class. |
| `createdAt` / `updated_on` | When drawn / last changed. |
| `classId` / `class` | Class schema ID. |
| `color` / `classColor` | Display color (e.g. `#CDDC39`). |
| `geometry` | For `brush_sphere`: `id`, `position`, `rotation`. For `polygongroup`: `position`, `rotation`, and `polygons[]` - each with a `geometry` block holding the exact 3D placement (`matrixWorldInverse`, etc.). |
| `object_type` | `brush_sphere` or `polygongroup`. |
| `taxonomy_attribute` | `attributeSchemaId → answer` map. |
| `isVisible` / `isLocked` / `deleted` / `discarded` | Object UI/state flags. |
| `order` / `groundClippingMode` / `isStaticSize` | Rendering/behavior settings. |
| `keyFrame` / `baseKeyFrame` / `isGeometryKeyFrame` / `attributesKeyFrame` / `referenceIndex` | Key-frame info (multi-frame/video). |
| `origin` / `originGeometry` / `originAttributes` | How created (`Manual`) and original geometry/attributes. |
| `isFirstTimeAttribute` / `modified` / `modifiedBy` / `isUpdated` | Edit-tracking flags and last editor. |
| `key` / `idbkey` / `seq_no` / `uniqueToken` / `node_wise_batch_details_id` | Internal storage/reference keys. |
Form-input record: `key` (e.g. `formInput_1`), `taskAttribute` (the form answer), `timeSpent`, `percentage`, `updated_on`, plus internal references.
**tasks** - the source asset descriptor:
| Key | Meaning |
| ------------------------------------------------------------- | -------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- |
| `_id`, `batch_code`, `seqNo`, `task_seq_no`, `lifecycleIndex` | Task identifiers and pipeline position. |
| `deliverable` / `ready` | Flags: part of delivery / ready. |
| `storageId` | Storage integration ID. |
| `url` | Signed URL to the source point cloud (Potree `cloud.js`). |
| `source` | `bucket` / `path` / `name` of the source .las. |
| `metadata` | Sensor extras: `calibration_location`, `ego_data_location`, `help_images[]` (camera reference images per sensor pair, e.g. `T01_T03`), `point_cloud`, `potree_path`, `ground_channel_path`, `transform.shift`. |
#### 3.3 pct\_annotation\_output
A **compact, clean annotation summary** - the easiest file to parse.
| Key | Meaning |
| ----------------- | --------------------------------------------------------------------------------------- |
| `annotations[]` | The annotations - same `pct` shape as Part 1.5 (incl. polygon `points`). |
| `batch_attribute` | The frame-level answers (`is_dusty`, `Image Status`) as `attributeSchemaId → optionId`. |
| `frame_attribute` | Per-frame attribute answers. |
| `meta_info` | Source-cloud links (`point_cloud`, etc.) for this frame. |
| `relationship` | Object-to-object relations. |
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