# Change Log - 3D MSF Product Updates

### v27.2.5 - April 20th, 2026

#### <mark style="color:orange;">**Known Issues**</mark>

* The Hotzone feature has been temporarily disabled while an investigation into unidentified issues is ongoing. This is a precautionary measure to prevent data inconsistency.

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### v27.2.4 - April 13th, 2026

#### <mark style="color:blue;">**Bug Fixes**</mark>

* 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."*\ <br>

  <figure><img src="https://3895963154-files.gitbook.io/~/files/v0/b/gitbook-x-prod.appspot.com/o/spaces%2FTcOUG6rfWxqGM0N4db2P%2Fuploads%2Fx8H0WWf7jQKEt3sxOZ3j%2FScreenshot%202026-04-20%20at%2011.41.35.png?alt=media&#x26;token=cf6d3eac-4a61-42e0-9854-f986c73415b6" alt=""><figcaption></figcaption></figure>

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### v27.2.3 - April 10th, 2026

#### <mark style="color:blue;">**Bug Fixes**</mark>

* **Command + Left Click** to add a new vertex to a polygon now works correctly on macOS.

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### v27.2.2 - April 9th, 2026

#### <mark style="color:blue;">**Bug Fixes**</mark>

* 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.

  <figure><img src="https://3895963154-files.gitbook.io/~/files/v0/b/gitbook-x-prod.appspot.com/o/spaces%2FTcOUG6rfWxqGM0N4db2P%2Fuploads%2Fsx6aHcYMmATpH4qlAniA%2FScreenshot%202026-04-09%20at%2014.24.15.png?alt=media&#x26;token=8c3c360b-78b3-45e1-8b6a-d9a42624722a" alt=""><figcaption></figcaption></figure>
* Classification colors are no longer lost when pressing **Ctrl+Z** while the Brush tool is active.
* Sync-All polylines has now been fixed

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### v27.2.1 - April 8th, 2026

#### <mark style="color:$warning;">**Improvements**</mark>

* 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.

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### v27.2.0 - April 7th, 2026

#### <mark style="color:$success;">**New Features**</mark>

* **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](https://docs.imerit.net/labeling/3d-multi-sensor-fusion-labeling-editor/drawing-tools/brush#persistent-settings)

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### v27.1.0 - April 3rd, 2026

#### <mark style="color:$success;">**New Features**</mark>

* **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](https://docs.imerit.net/labeling/3d-multi-sensor-fusion-labeling-editor/drawing-tools/3d-polygon#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&#x20;
  * 2D Polygon [Learn More](https://docs.imerit.net/labeling/3d-multi-sensor-fusion-labeling-editor/drawing-tools/2d-polygon#lasso-mode)
  * 3D Polygon [Learn More](https://docs.imerit.net/labeling/3d-multi-sensor-fusion-labeling-editor/drawing-tools/3d-polygon#lasso-mode)

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### v27.0.1 - April 1st, 2026

#### <mark style="color:blue;">**Bug Fixes**</mark>

* 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.

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### v27.0.0 - March 31, 2026

#### <mark style="color:$warning;">**Improvements**</mark>

* **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](https://docs.imerit.net/3d-multi-sensor-fusion/labeling/3d-multi-sensor-fusion-labeling-editor/key-features/hotzone)

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### v26.4.5 - March 25, 2026

#### <mark style="color:$success;">**New Features**</mark>

* 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](https://docs.imerit.net/importing-data-in-the-3d-multi-sensor-fusion-labeling-tool#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](https://docs.imerit.net/3d-multi-sensor-fusion/labeling/instruction)

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### v26.4.4 - March 23, 2026

#### <mark style="color:blue;">**Bug Fixes**</mark>

* 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.

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### v26.4.3 - March 13, 2026

#### <mark style="color:blue;">**Bug Fixes**</mark>

* 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.

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### v26.4.2 - March 4, 2026

#### <mark style="color:blue;">**Bug Fixes**</mark>

* **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.

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### v26.4.1 - March 2, 2026

#### <mark style="color:$success;">**New Features**</mark>

* **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)