Cuboid

A cuboid is a simple 3D box-shaped annotation tool used to mark and measure objects in point cloud data. Think of it as drawing a rectangular box around an object to capture its position, size, and orientation in three-dimensional space.

Settings

Preset Cuboid Dimension

The Preset Cuboid Dimension feature allows you to define standard cuboid sizes for each class, which is particularly useful for objects with known and consistent dimensions.

Toggle ON: Enables custom preset dimensions for the class. You can define specific length, width, and height values that will be applied by default when annotators create new cuboids.
- Example: A "Sedan" class might have preset dimensions of 4.5m (length) × 1.8m (width) × 1.5m (height)
Toggle OFF: Uses a standard default cube dimension for all new cuboids of this class.

Tip: Enable presets for objects with consistent sizes (vehicles, shipping containers, standard equipment) to speed up annotation and improve consistency.

Sanity Checks

Sanity Checks are intelligent guardrails that automatically monitor annotation quality in real-time, helping annotators maintain consistency and accuracy while tracking objects across frames. The system alerts annotators when measurements fall outside expected ranges.

Configure Movement Thresholds

Set the minimum and/or maximum allowed movement distance between consecutive frames for each object class.

Example: Vehicles might have a maximum 5-meter threshold, while pedestrians might have a 2-meter threshold.

Tip: Consider your frame rate and typical object speeds when setting values. Higher frame rates need lower thresholds.

Configure Rotation Thresholds

Define the minimum and/or maximum allowed changes in yaw, pitch, and roll between consecutive frames.

Yaw: Rotation around the vertical axis (turning left/right)
Pitch: Rotation around the lateral axis (tilting up/down)
Roll: Rotation around the longitudinal axis (leaning side-to-side)

Example: Set 15° maximum for yaw (turning), 10° for pitch and roll on stable vehicles.

Tip: Adjust thresholds based on object behavior and camera movement. Fast-moving or highly dynamic objects may need higher thresholds.

Create Cuboid

Click the '+' icon next to the class you want to annotate from the class list.
Choose 'Cuboid' from the available drawing tools.
In BEV Mode, click your mouse to draw a rectangle. Begin from the back of the object to create the length and then use front of the object to create the width.
In 3D Mode, place a cuboid directly into the point cloud.
Use the orthographic views (front, top, side) to refine the cuboid further.
To modify the direction of the cuboid, you can use the rotation icon in the header or press the R shortcut key. The yellow arrow indicates which way the object is facing.
- Check the corresponding images in the image panel to see how your cuboid projects onto each view.
Fill in the required annotation details for the cuboid.
Adjust the cuboid's width, length, and height using the quick shortcut keys.
Once saved, your cuboid instance will appear in the class list with a box icon next to its name.

Modify Cuboid

To modify a cuboid, first click on it to select it.
Click and drag the red, green, or blue circles to adjust the corresponding face of the cuboid.
- Z (changes height)
  - Z + A = Stretch height from bottom
  - Z + S = Squeeze height from bottom
  - Z + Q = Squeeze height from top
  - Z + W = Stretch height from top
- X (Length)
  - X + A = Stretch length from back
  - X + S = Squeeze length from back
  - X + Q = Squeeze length from front
  - X + W = Stretch length from front
- C (Width)
  - C + A = Stretch length from right
  - C + S = Squeeze length from right
  - C + Q = Squeeze length from left
  - C + W = Stretch length from left
- Translation
  - Z + D = lower
  - Z + E = higher
  - X + D = backwards
  - Z + E = forwards
  - C + D = to the right
  - C + E = to the left
- For precision mode: Switch on CAPS Lock
To rotate the cuboid, hold the below keys:
- Z + F, Z + G for Yaw
- X + F, X + G for Roll
- C + F, C + G for Pitch
- For precision mode: Switch on CAPS Lock
Drag the red, green, or blue lines to shift the entire cuboid along that specific axis direction.
Click and drag the blue square inside the cuboid to move it freely within a single plane.

Duplicate Cuboid

To duplicate a cuboid, select the annotation and press Ctrl+D. The duplicated cuboid will appear and can be placed at your desired location in the point cloud with a mouse click.

Copy and Paste Cuboid

Cuboids can be copied and pasted to other frames where they don't currently exist using Ctrl+C to copy and Ctrl+V to paste. When pasting, an annotation detail prompt will appear for you to enter information. By default, the pasted cuboid will share the same Instance ID as the original copied cuboid.

Last updated 1 day ago