# Image Viewer (IViewer)

The Image Viewer is a feature that displays camera sensor images, each showing the projection of a selected cuboid. It helps users analyze how an object appears across multiple camera angles, using calibration data to align point cloud annotations with images.

{% hint style="success" %} <img src="https://3895963154-files.gitbook.io/~/files/v0/b/gitbook-x-prod.appspot.com/o/spaces%2FTcOUG6rfWxqGM0N4db2P%2Fuploads%2FGOAkLkFFY9H0DEt10649%2Fbold_idea_icon.png?alt=media&#x26;token=5e795075-b5f4-4e03-a9dd-c01069ceac8b" alt="" data-size="line"> Image Viewer helps users analyze how an object appears across multiple camera angles.
{% endhint %}

![](https://content.gitbook.com/content/TcOUG6rfWxqGM0N4db2P/blobs/dda2H7p7h2WoWk3a99L2/image)

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## Use Cases

* Multi-camera review: See how an object is captured by different cameras at the same frame.
* Annotation verification: Check the accuracy of cuboid placement across views.
* Tracking moving objects: Follow an object entering one view and exiting another within the same frame.
* Sensor layout: Identify the most helpful camera view based on clarity or proximity.

![](https://content.gitbook.com/content/TcOUG6rfWxqGM0N4db2P/blobs/ykifuBBJU0Es8MVcBDPC/image)

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## Benefits

* Provides a complete visual context of the object from various angles.
  * Supports easier tracking of moving objects across views.
* Allows custom arrangement of camera feeds by:
  * Best view
  * Closest to the ego vehicle
  * Locking preference places key views at the front for quicker access.
* Enhances accuracy by relying on point cloud-to-image calibration.

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## Steps to Use

{% stepper %}
{% step %}

### Enable IViewer

Enable the IViewer from the top left of the menu.

![](https://content.gitbook.com/content/TcOUG6rfWxqGM0N4db2P/blobs/crUM6ejxPyoGIaMt5UOE/image)
{% endstep %}

{% step %}

### Place and Resize IViewer

Adjust the IViewer to a location on the tool that is most convenient and resize it to the dimensions that help identify objects.

![](https://content.gitbook.com/content/TcOUG6rfWxqGM0N4db2P/blobs/EqKLnDv0cqxOHJqQvZja/image)
{% endstep %}

{% step %}

### Select a Cuboid

Select a cuboid in the 3D point cloud.
{% endstep %}

{% step %}

### View Projections

The IViewer displays all camera images where the cuboid is projected.
{% endstep %}

{% step %}

### Rearrange and Lock Sensors

Rearrange sensors to prioritize views by quality or distance.

Lock important sensors so they always appear first.
{% endstep %}

{% step %}

### Validate and Track

Observe how the object appears in each camera to validate, adjust, or track annotations effectively.
{% endstep %}
{% endstepper %}

{% hint style="info" %}
The Image Viewer displays the projection of the selected cuboid based on the calibration data provided in the dataset - not the camera sensors the respective rectangles are created on. It automatically shows the cuboid on all camera views where it is projected using the available calibration.
{% endhint %}