# Change Log - 3D MSF Product Updates ### v27.6.0 - May 15th, 2026 #### **New Feature** * **Individual Annotation Point Clipping -** Annotators can now hide the points and boundary of individual annotations using the clip icon in the annotation list. Clipping applies across the sequence for the session, and unclipping restores full visibility. Clipping operates independently of the existing visibility toggle.
* **Bulk Point Clipping Controls -** Annotators can now clip or unclip points across multiple annotations simultaneously. Use Clip All / Unclip All to toggle all annotations at once, or Clip by Class / Unclip by Class to manage entire class categories.
* **Rotate and Pan View While Using Paintbrush -** Annotators can now rotate and pan the point cloud view while actively painting, without losing progress or saving incomplete work. Hold Spacebar + Left-drag to rotate and Spacebar + Right-drag to pan. Mouse wheel, arrow keys, and WASD keys navigate without triggering painting. The cursor changes to a hand icon during navigation, painted points remain frozen and visible, and a toast notification prompts the annotator to resume segmenting. Right-clicking without Spacebar saves normally. * **Paintbrush Annotation on Merged Point Cloud -** Annotators can now create paintbrush stroke annotations directly on a merged point cloud, eliminating the need to repeat the same annotation across multiple frames. The paintbrush tool behaves consistently on merged clouds as on single frames, provides visual feedback on annotation coverage, and automatically applies the annotation to all frames included in the merge. * **Merge Point Clouds for Static Objects -** Annotators can now merge point clouds across all frames into a single dense unified cloud for static objects, allowing the complete structure of an object to be viewed and annotated once rather than frame by frame. The merged cloud maintains spatial accuracy and alignment, and can be previewed before committing to annotation. * **Review and Refine Propagated Annotations -** Annotators can identify and manually refine propagated annotations that need adjustment using all standard editing tools. Refinements made to a frame do not affect any other frames in the sequence. #### **Bug Fixes** * Object clipping works correctly on cuboid annotations regardless of their lock state. Previously, enabling object clipping on a locked or unlocked cuboid had no effect. *** ### v**27.5.4** - May 12th, 2026 #### **Bug Fixes** * Switching frames and submitting batches no longer causes the tool to display a prolonged loading screen when multiple cuboids with propagation are present in a task. *** ### v**27.5.3** - May 8th, 2026 #### **Bug Fixes** * Locked annotations can no longer have their dimensions modified using the Dynamic Dimension option. Previously the lock was not enforced for this specific interaction. * Locking a polygon annotation no longer causes the segmented area to disappear from the workspace. The lock now correctly restricts editing only, while the segmented area remains fully visible. * Locked polyline annotations can no longer have their width modified via the Status panel. * Locked polygon and brush annotations can no longer be modified using the Add or Subtract segment options. * Locked annotations in BEV mode are now correctly protected from annotation reassignment when a new annotation is drawn over them. * Locked polygon areas can no longer be overlapped by new segmentations from a different class. The locked area is now fully protected from overlap by any other annotation. * Lock state is now correctly enforced across all drawables in BRT datasets. Locked objects can no longer be modified, overlapped, or deleted. * When a locked annotation is present, selecting a different class and attempting to create a new object in the same area no longer generates a new class ID or displays a bounding box in that area. * Polygon segmentation and its bounding box now remain visible after saving. Adding a new segment to an existing polygon no longer causes previously created segmented areas or bounding boxes to disappear. *** ### v**27.5.2** - May 7th, 2026 #### **Bug Fixes** * Submitting a batch where the next batch contains fewer frames than the previous one no longer causes the tool to fail to load. Previously this triggered either an incorrect error message or a console error. The new batch now loads correctly regardless of frame count differences. *** ### v27.5.1 - May 6th, 2026 #### **Bug Fixes** * In Merged Point Cloud (MPC) view, points were incorrectly loading and unloading when navigating between merged frames, instead of remaining fully loaded for the duration of the merge. Points now stay loaded consistently across all frames included in the MPC view. *** ### v27.5.0 - April 30th, 2026 #### **Bug Fixes** * Undo (**Ctrl+Z**) now responds correctly while a polygon is active after adding or subtracting a segment, removing the need to manually deselect the polygon before undoing. *** ### v27.4.0 - April 23rd, 2026 #### **New Feature** * **Individual Annotation Visibility Toggle -** Annotators can now show or hide individual annotations directly from the annotation list using the eye icon next to each annotation. When hidden, the annotation boundary is concealed and classified points appear as unclassified, reducing visual distraction when working on specific objects. Visibility state is saved with the annotation and retained across the sequence and while drawing, until the tool is reloaded.
* **Bulk Visibility Controls -** Annotators can now show or hide multiple annotations at once to quickly manage visual complexity. Entire class categories can be toggled using **Hide by Class / Show by Class**. For more granular control, multi-select annotations using **Ctrl + Click** and toggle visibility with **Ctrl + 1** (or **Cmd + 1** on macOS).
*** ### v**27.3.1 - April 22nd, 2026** #### **Bug Fixes** * Cuboids created across a sequence were incorrectly showing a message stating they did not exist in any frame other than the current one when attempting to group them. Grouping now works correctly across all frames in the sequence. *** ### **v27.3.0 - April 21st, 2026** #### **New Feature** * **Hide Polygon Geometry Visibility -** Annotators can now hide the boundary edges of polygon annotations while keeping segmented points fully visible. This reduces visual clutter from overlapping polygon edges, allowing annotators to focus on point classifications. Geometry details are retained in full for analytics. Note that the polygon currently being drawn or edited will still display its temporary geometry until the operation is complete. *** ### v27.2.5 - April 20th, 2026 #### **Known Issues** * The Hotzone feature has been temporarily disabled while an investigation into unidentified issues is ongoing. This is a precautionary measure to prevent data inconsistency. *** ### v27.2.4 - April 13th, 2026 #### **Bug Fixes** * The error message shown when no tasks are available or when the point cloud tool needs to be relaunched from Ango Hub has been improved. Users will now see: *"Task Unavailable — Something went wrong. Please go back to Ango Hub and launch the point cloud tool again."*\
*** ### v27.2.3 - April 10th, 2026 #### **Bug Fixes** * **Command + Left Click** to add a new vertex to a polygon now works correctly on macOS. *** ### v27.2.2 - April 9th, 2026 #### **Bug Fixes** * In scenes with 21 or more cuboids, points inside some annotations were not being colored when navigating between frames. All points inside all annotations are now correctly colored when classification is computed. * Points were displaying incorrect colors when navigating quickly between frames on cuboids with noticeable position shifts between interpolated frames. Point colors now correctly match their annotation geometries during fast frame navigation. * Resolved a storage quota issue on Chrome for Windows that was causing images to fail to load. * Conflict resolution for cuboids, polygons, and polylines is now processed in the background, and is automatically executed on interpolation and propagation across all affected frames. A progress indicator is now displayed in the bottom-left corner of the scene during conflict resolution.
* Classification colors are no longer lost when pressing **Ctrl+Z** while the Brush tool is active. * Sync-All polylines has now been fixed *** ### v27.2.1 - April 8th, 2026 #### **Improvements** * Resolved lag experienced when segmenting points for the first time using the brush tool, and when segmenting points in BEV view. Both operations now perform smoothly. *** ### v27.2.0 - April 7th, 2026 #### **New Features** * **Paintbrush Drawable Settings Persistence -** Previously, the brush tool would revert to its default diameter whenever you switched layers or reloaded the application. With this update, the last used brush sphere size is now saved automatically. * Drawable Continuity: Switch between different frames, classes or drawables without losing your preferred brush scale. * Session Persistence: If you refresh your browser or accidentally close your tab, your brush size will be exactly where you left it when you return. [Learn More](/3d-multi-sensor-fusion/labeling/3d-multi-sensor-fusion-labeling-editor/drawing-tools/brush.md#persistent-settings) *** ### v27.1.0 - April 3rd, 2026 #### **New Features** * **Polygon Vertex Undo/Redo -** Annotators can now undo and redo individual vertex placements while drawing a polygon, removing the need to restart from scratch when correcting a mistake. Use **Ctrl+Z** to remove the last placed vertex and **Ctrl+Shift+Z** to redo it. Undo can be applied all the way back to zero vertices, returning to an empty state. Pressing **ESC** cancels the entire polygon and clears all vertices. Undo history is preserved during navigation. [Learn More](/3d-multi-sensor-fusion/labeling/3d-multi-sensor-fusion-labeling-editor/drawing-tools/3d-polygon.md#undoing-and-redoing-vertex-placements) * **Lasso Mode for Polygon Drawing -** A new lasso mode allows annotators to draw smooth, curved polygons by automatically placing vertices as the cursor moves, eliminating repetitive clicking. Press **G** to toggle lasso mode on or off. When active, a visual indicator - cursor change and toolbar highlight - confirms the mode is enabled. Toggling off pauses or completes the polygon, and the mode persists until manually turned off. Lasso mode works for * 2D Polygon [Learn More](/3d-multi-sensor-fusion/labeling/3d-multi-sensor-fusion-labeling-editor/drawing-tools/2d-polygon.md#lasso-mode) * 3D Polygon [Learn More](/3d-multi-sensor-fusion/labeling/3d-multi-sensor-fusion-labeling-editor/drawing-tools/3d-polygon.md#lasso-mode) *** ### v27.0.1 - April 1st, 2026 #### **Bug Fixes** * Paintbrush segmentation in BEV mode now works correctly when the project ontology contains a cuboid with predefined dimensions. * Resolved an issue where image datasets were hitting a quota limit, causing images to fail to load. *** ### v27.0.0 - March 31, 2026 #### **Improvements** * **Performance Boost** **-** Point cloud data is now bundled per frame into a single zip file for download, replacing the previous per-node request model. This significantly reduces the number of network requests made when loading the tool. Learn More Key benefits include: * Faster tool load times (including when merging point clouds). * Reduced network congestion when multiple users load the tool simultaneously. * Lower risk of failed or incomplete point cloud loads due to request overload. * More consistent performance across varying network conditions. * **Hotzone -** Users can now isolate a section of the point cloud using the Hotzone tool and work exclusively within that area without risk of accidentally segmenting surrounding points. Rendering performance within the isolated section is also significantly smoother as only that portion of the point cloud is active. [Learn More](/3d-multi-sensor-fusion/labeling/3d-multi-sensor-fusion-labeling-editor/key-features/hotzone.md) *** ### v26.4.5 - March 25, 2026 #### **New Features** * The point cloud tool now supports PCD as an import and export format alongside LAS. When LiDAR files are imported in PCD format, the output will be delivered in PCD, and when imported in LAS, the output will be delivered in LAS. This eliminates the need for any pre-import or post-export file conversion. [Learn More](/3d-multi-sensor-fusion/importing-data-in-the-3d-multi-sensor-fusion-labeling-tool.md#lidar-data-required) * Project owners and managers can now attach a labeling instruction document (PDF) to any active project directly from Ango Hub. The instruction link is accessible to all project members from within the 3D MSF labeling tool - click the **?** icon in the top-right corner, select **Instructions** from the dropdown, and click the attached PDF to open it in a new tab for reference. If instructions have already been uploaded, they can be replaced at any time via the **Upload Instructions** option in Ango Hub. [Learn More](/3d-multi-sensor-fusion/labeling/instruction.md) *** ### v26.4.4 - March 23, 2026 #### **Bug Fixes** * When changing frame using the timeline while an object is selected, the object gets automatically deselected. Only the timeline would remain visible without any object selected, causing confusion during annotation. This has now been fixed to correctly displaying the selected object in the orthographic views and the main view. * A console error was displayed on generating rectangles. This scenario has been handled. * Images were not loading due to s3 transfer acceleration enablement. This has been fixed and now the tool user will observe improved loading times. *** ### v26.4.3 - March 13, 2026 #### **Bug Fixes** * Pointcloud annotations on tasks with 200 or more annotations now correctly display class colors for segmented points. * Deleted paintbrush segmentation points now correctly remain invisible and no longer reappear when an adjacent area is re-segmented. * The brush sphere hotkey on macOS now works consistently. * Polygon subtraction hotkeys are now listed in the Shortcut menu. * Selecting **Submit and Exit** now correctly redirects users back to Ango Hub without closing the tab, and no new task is assigned following the action. * Copy-pasting a polygon no longer causes the tool to stop responding. *** ### v26.4.2 - March 4, 2026 #### **Bug Fixes** * **Undo/Redo flickering in orthographic viewports -** Pressing undo/redo was forcing the selected annotation to deselect, causing flickering and rapid blinking in the orthographic viewports when triggered multiple times in quick succession. Undo/redo now completes smoothly without any viewport flickering. * **Duplicate annotation on instance class change -** Changing the instance class to a class without an instance was incorrectly creating a duplicate annotation. Class changes now apply cleanly with no duplicate data created, ensuring full data integrity. * **Inconsistent bottom line in orthographic viewports -** The bottom grey line length rendered inconsistently when changing the size of the rectangle in the orthographic viewports. It now renders uniformly. * **Incorrect redirect after exiting 3D Film Reel -** After entering the 3D Film Reel, clicking on a 2D annotation, clicking back to a 3D annotation view and then exiting the 3D Film Reel view, incorrectly redirected users to the reference image of 2D annotation instead of returning to the last selected annotation. Exit behaviour now returns users to the correct view of selected annotation. * **Main viewing area jump on 'top' label double-click -** Double-clicking the *top* label in the orthographic viewports caused an unexpected jump in the main viewing area. The view now remains stable on double-click. * **Timeline attributes not updating on edit -** Attribute values edited on the timeline were not visually refreshing until the user hovered their cursor over the annotation. Attributes now update immediately upon edit without requiring any additional interaction. *** ### v26.4.1 - March 2, 2026 #### **New Features** * **Minimum LiDAR Point Density -** A new sanity check that automatically monitors the number of LiDAR points within each cuboid annotation relative to its distance from the ego vehicle. When the count falls below the project-configured threshold for a given distance band, a non-blocking warning is surfaced on the timeline per track ID and frame. Thresholds are configured per object class and distance range in the project category schema. [Learn more →](https://docs.imerit.net/3d-multi-sensor-fusion/labeling/3d-multi-sensor-fusion-labeling-editor/key-features/sanity-checks/minimum-lidar-point-density) * **Class-Based Cuboid Dimensions -** A new sanity check that validates the computed volume (L × W × H) of every cuboid against the minimum and maximum bounds defined per class in the project ontology. A visual cue appears within \~2 seconds when a cuboid's volume falls outside the permitted range for its class, distinguishing between too-small and too-large violations. Both warnings are non-blocking and clear automatically once the volume is within range. [Learn more →](https://docs.imerit.net/3d-multi-sensor-fusion/labeling/3d-multi-sensor-fusion-labeling-editor/key-features/sanity-checks/class-based-cuboid-dimensions) --- # Agent Instructions: Querying This Documentation If you need additional information that is not directly available in this page, you can query the documentation dynamically by asking a question. Perform an HTTP GET request on the current page URL with the `ask` query parameter: ``` GET https://docs.imerit.net/3d-multi-sensor-fusion/change-log-3d-msf-product-updates.md?ask= ``` The question should be specific, self-contained, and written in natural language. The response will contain a direct answer to the question and relevant excerpts and sources from the documentation. Use this mechanism when the answer is not explicitly present in the current page, you need clarification or additional context, or you want to retrieve related documentation sections.