# 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="/files/mXHEiGg35kYjwl0I4r5p" alt="" data-size="line"> Image Viewer helps users analyze how an object appears across multiple camera angles.
{% endhint %}

![](/files/8c1d3850287196d2bfd5d5a276a7c53aa4047b27)

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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.

![](/files/66741655839b4cfd2310e9da4a37dc34448f92a0)

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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.

***

## Steps to Use

{% stepper %}
{% step %}

#### Enable IViewer

Enable the IViewer from the top left of the menu.

![](/files/97b0cbaa08604c6a90e9b4d545c8535c34030d8e)
{% 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.

![](/files/40c1d3520fd85334a736965872c22a9a57806c47)
{% 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 %}


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