> 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-1.md).

# 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:

* **Everything in** `export.json` - the primary annotation file.

**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)

## Everything in export.json <a href="#part-1-everything-in-export.json" id="part-1-everything-in-export.json"></a>

`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**.

### Asset-level keys <a href="#id-1.1-asset-level-keys" id="id-1.1-asset-level-keys"></a>

| 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). |

### The task object <a href="#id-1.2-the-task-object" id="id-1.2-the-task-object"></a>

| 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).                 |

### task.classifications\[] - frame-level attributes <a href="#id-1.3-task.classifications-frame-level-attributes" id="id-1.3-task.classifications-frame-level-attributes"></a>

Answered once for the whole frame/asset (not per object).

| title          | tool              | Example answer |
| -------------- | ----------------- | -------------- |
| `is_dusty`     | `single-dropdown` | `["None"]`     |
| `Image Status` | `single-dropdown` | `["None"]`     |

### tools\[] - one entry per annotated object <a href="#id-1.4-tools-one-entry-per-annotated-object" id="id-1.4-tools-one-entry-per-annotated-object"></a>

| 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).                                |

#### **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"]` |

### The pct payload (depends on object\_type) <a href="#id-1.5-the-pct-payload-depends-on-object_type" id="id-1.5-the-pct-payload-depends-on-object_type"></a>

**Common keys (all object types):**

| Key                                                               | Meaning                                                                                                                               |
| ----------------------------------------------------------------- | ------------------------------------------------------------------------------------------------------------------------------------- |
| `label`                                                           | Schema ID of the object's class (matches `schemaId`).                                                                                 |
| `_id`                                                             | Composite key: `task_<frame>_<objectId>`.                                                                                             |
| `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                                                                                                                     |

`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 |

### stageHistory\[] - workflow audit trail <a href="#id-1.6-stagehistory-workflow-audit-trail" id="id-1.6-stagehistory-workflow-audit-trail"></a>

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.                               |


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