> For the complete documentation index, see [llms.txt](https://docs.imerit.net/llms.txt). Markdown versions of documentation pages are available by appending `.md` to page URLs; this page is available as [Markdown](https://docs.imerit.net/3d-multi-sensor-fusion/labeling/3d-multi-sensor-fusion-labeling-editor/tool-layout.md). # Tool Layout Tool Overview There are primary sections of the tool: * Header (Green) * Footer (Purple) * Class List (Blue) * Point Cloud (Yellow) * Image Panel (Red) * Annotation Detail (On Selecting an Annotation) (Orange) ![](/files/6c92f67938db3895d4d35136243464f3bd00d3e2) ![](/files/ca98391a1ccba8f6075bfb755185ab4dc283cacf) Header The header consists of the following actions: ![](/files/57ad9674a642a06120dce417ee074e9e98363cf6) BEV-3D Mode * Toggle to view the point cloud in 2D (Top view) or default 3D. * When 2D is ON, annotators can mark objects from the top view using Rectangle interactions to create a Cuboid. * When 3D is ON, annotators can mark objects from any angle by dropping a Cuboid. ![](/files/1960bc464bebaaf6e2847a4b0a2f077d3b67aeaf) Rotation ![](https://docs.imerit-prod.io/~gitbook/image?url=https%3A%2F%2Flh7-us.googleusercontent.com%2Fdocsz%2FAD_4nXcY5C96Y95gVHP3g5aJNnJn_XqsUeWwmLbH5C0fiz4mCiPTxYIOalmnWOjzqyIkH-SoGOB66-9I2YImauHVyTnuQq1QZPURiL0T84f1Q6pCfw-taovHZEBGl5ooLy74JutW4JWyJB6zj-niYFfxIUxZ5391%3Fkey%3DlGhAQLv5xC3Ciuwf6zBTGQ\&width=768\&dpr=4\&quality=100\&sign=2ceb24c3\&sv=2) * Enabled when selecting any Cuboid. * Rotates the Cuboid direction anti-clockwise — useful if the object direction was set incorrectly after dimensioning. * Shortcut: R Key ![](https://docs.imerit-prod.io/~gitbook/image?url=https%3A%2F%2Flh7-us.googleusercontent.com%2Fdocsz%2FAD_4nXeRp01cGaP6NdMfG4uww4LHIYOsADa8556rKsclDysTg4qzMRthXCRG9pzFP6S_KCsnV9XlDp5zwWv-IFLs4vKmEcUJ6cqhyp8MVlwyiCL1lXB8iPJUSCKgCApNZvBWYrP-iPGZsqrHU78lR3b532IMN6Q%3Fkey%3DlGhAQLv5xC3Ciuwf6zBTGQ\&width=768\&dpr=4\&quality=100\&sign=4689e69f\&sv=2) Autofit * Enabled only after a cuboid is selected. * Removes extra space between the end-most point and the cuboid edge, creating a tighter box while ensuring no point is excluded. * For best results, ensure the object is fully visible and not partially obscured. ![](/files/ac23715eb8025e193a580cb5f9bb076267faed16) ![](/files/a3deba5959547fafa5cbae02c99dc010d0806491) ![](/files/d766461c49ea2d6ee0bb6f896b075fb6bb74650d) Merge Point Cloud * Helpful in sequential tasks to identify and mark objects in their stationary state. Learn how to use it here: * Ideal for static objects; users can also understand the scene better by adjusting the Frame Jump Length. ![](/files/ac23715eb8025e193a580cb5f9bb076267faed16) ![](/files/4d8797aa4cd7a996f1fcbffde0039275c9116beb) ![](/files/e5e7d53d1599a80372e554977b8e1a632df3e9ca) Outlier * Toggles visibility of unlabelled points; unlabeled points will blink to aid locating them. * Learn how to use it here: ![](https://docs.imerit-prod.io/~gitbook/image?url=https%3A%2F%2Flh7-us.googleusercontent.com%2Fdocsz%2FAD_4nXf8DJtw0lfZzNZnC2zNJn9Bgh1NSt5I2LWA-NKzgDSHx700S7oy-ckzRDhOTLbRNtXxXHxBpCUzAI-uBVnOJYLUFC6uKeu9Tq89dLwEqwzX3fHEI9NEGI3BDJYqlA0dKBEkWh6mDNcFGsAHhpm2XNfoAkLP%3Fkey%3DlGhAQLv5xC3Ciuwf6zBTGQ\&width=768\&dpr=4\&quality=100\&sign=bc0beea3\&sv=2) Isolate * Focus on specific areas of the point cloud to avoid background distraction while labelling. * Learn how to use it here: ![](https://docs.imerit-prod.io/~gitbook/image?url=https%3A%2F%2Flh7-us.googleusercontent.com%2Fdocsz%2FAD_4nXeM5WgdhAl9aMF-8LM10Gc9MJ3dbodclM9pW5XZ14q8yV_1YRsBQa5YU0FAN5-sFCGxaxVMDMdn9u3QSYt9N9e0Bh8wsINsx5RYPUMVFVydxuWjR3VL8AqXkZAcIj-dQQkvho8sTwkaPAA_obYWA3D5qevy%3Fkey%3DlGhAQLv5xC3Ciuwf6zBTGQ\&width=768\&dpr=4\&quality=100\&sign=9d103681\&sv=2) Navigation Controls There are 2 modes available to navigate the point cloud. Use the stepper below for each mode. {% stepper %} {% step %} #### Helicopter Mode * Move (front, left, back, right): Key W, A, S, D * Fly (up, down): Key Q, E * Look around: 4 Arrow Keys * Zoom control: Mouse Wheel or double-click to zoom in ![](https://docs.imerit-prod.io/~gitbook/image?url=https%3A%2F%2Flh7-us.googleusercontent.com%2Fdocsz%2FAD_4nXer2zhKZolChjp-vs-AxXMqroWhYVUIZAwoEWg6ZW4Yw-UBHM8beMwwsv-mdtXyfYzHzDN6IRx59EAjUzL_qin_7KoRdzwRhhBntk1NJyfSxi_lwOi8QanFmbESGe_Io40G2vpjNZl9N6G9hCaX1XceUpo%3Fkey%3DlGhAQLv5xC3Ciuwf6zBTGQ\&width=768\&dpr=4\&quality=100\&sign=e9d1ae8b\&sv=2) {% endstep %} {% step %} #### Orbital Mode * Move (up, down, right, left): 4 Arrow Keys * Orbit around: * Key W, S — orbit top to bottom * Key A, D — orbit right to left * Zoom control: Mouse Wheel or double-click to zoom in ![](https://docs.imerit-prod.io/~gitbook/image?url=https%3A%2F%2Flh7-us.googleusercontent.com%2Fdocsz%2FAD_4nXepSTVyCAOwFUrJ95litD75ipsqvy_4t-76xho-_shQmB3HHkA8bxqIQ_DRbeXujU9NkPqMM8xgzCgRon8PzYyjMkTgH9NtvTkrhLf2MloL2cNQ1t1C6Vw3uHTYHuGs9HBhWF2iS_v6zuX8tH7y62DjMcbS%3Fkey%3DlGhAQLv5xC3Ciuwf6zBTGQ\&width=768\&dpr=4\&quality=100\&sign=421cc3f2\&sv=2) {% endstep %} {% endstepper %} Fit to Screen * Fits the entire point cloud within the browser screen. * Shortcut: Ctrl + F ![](https://docs.imerit-prod.io/~gitbook/image?url=https%3A%2F%2Flh7-us.googleusercontent.com%2Fdocsz%2FAD_4nXdNupOF56luMIQWNsADWKa51Ze37nF8tpV0Ns9Y3kfCqN2U5G5npBDOMg53Vd__1zqb5BoD4uJ2e-E-N1iE55gUWgGJVi_vGHq2kOcH7G_DnDGuMAXATfbNel8priA_DV20wLF46OJPS4Q1cSwfC5-qq4E%3Fkey%3DlGhAQLv5xC3Ciuwf6zBTGQ\&width=768\&dpr=4\&quality=100\&sign=b94c34cf\&sv=2) Jump to Origin * Navigates back to the default origin coordinates when the task loads. * Shortcut: O (alphabet) ![](https://docs.imerit-prod.io/~gitbook/image?url=https%3A%2F%2Flh7-us.googleusercontent.com%2Fdocsz%2FAD_4nXd3A-9SUfPIghUVQPOF8uKWYzctTUryGA-OhEIxD7GlL3Wpdqy0_nQy8IUYRFD2GQHoPuJNDQMfTNybR4F56lDcdqhDnS00N8JGnsZqvrQFt7-MAHvmeTybQRDnjLudLglrf9H575GVS9t6Sxc1QGSPAQqx%3Fkey%3DlGhAQLv5xC3Ciuwf6zBTGQ\&width=768\&dpr=4\&quality=100\&sign=db317c72\&sv=2) Toggle Fullscreen * Hides the browser bar and makes the tool fullscreen. ![](https://docs.imerit-prod.io/~gitbook/image?url=https%3A%2F%2Flh7-us.googleusercontent.com%2Fdocsz%2FAD_4nXccYBsC1wHy8A2pcjgoSdRSiUbiYmBysuka64BvKWxclAFD8p7u917fiziNVRDx1Bff-t_5nfkGs_hOfrkBvjG0BEirx7kEJjoSIDDYAukBn6Si7BoA4UNrON7ps2aRMjC4R4S_cQknFKc0EcOoXEIJ1Xxt%3Fkey%3DlGhAQLv5xC3Ciuwf6zBTGQ\&width=768\&dpr=4\&quality=100\&sign=1309ef53\&sv=2) Sensor * Ego vehicle may have multiple LiDAR sensors; due to lack of time-sync some staggering of objects can be seen. * Use the sensor filter to select which sensor points to consider. ![](/files/b97e2e6f7a226e75cf1cf7322050e597de63387e) Status * Enabled on selecting a Cuboid. * Opens a box showing: * Class * Dimension * Instance (if class has instances) * See Cuboid docs: ![](/files/dfde59bb2286eb72f46de8a8ea1c5b8c8988b243) Issues * Enabled in the Audit Tool after the batch reaches the Audit stage: * Auditors raise issues as issue cards. * After auditing, batches can be reopened in the Annotation tool with issue cards visible for resolution. * How to raise issues: ![](/files/cd80bc06b77bd6f5874132a9622bc6b67758f1ae) Validation * Executes logical validation on each task to: 1. Ensure better quality 2. Allow retraining of annotators ![](/files/6f72c9712914404fe2208c0b1643168e5458e795) ![](/files/5436d5d0168a01503dd6661e1efb76d72c1aba4f) Help * Top-left help icon shows Shortcuts and Batch-related information. ![](/files/1f50fcbd0ab47ced66987ac8e969815337813010) Shortcuts * Selecting 'Shortcuts' opens a right panel listing labelling shortcuts. * View all shortcuts: ![](/files/81a317ddad4ffc249c98344a03f0851ffda0d0a3) Batch Info * Selecting 'Batch Info' shows batch details in a box with a 'Copy to Clipboard' option. ![](https://docs.imerit-prod.io/~gitbook/image?url=https%3A%2F%2Flh7-us.googleusercontent.com%2Fdocsz%2FAD_4nXcT-1M_WQiZ0D3Dcdrx5hTOZKdzv3VAmOuvH2vFaTz1qlUJE21N8NKtlnKBiviBInGbR1bc2hl7SRLOn_GZKDMXJIyj_7WV-HxyHvGfx4kANlh01NV7XpPs-lFjO2V7B_Sov6lYZr3CPrPuHBXrUF3B8jY%3Fkey%3DlGhAQLv5xC3Ciuwf6zBTGQ\&width=768\&dpr=4\&quality=100\&sign=2a5b7e6\&sv=2) Footer The footer consists of these actions: ![](/files/7587146003e2e4058404aa4fd6d07ce7af4281fa) Time Tracker * Displays time spent on a task in real time. ![](https://docs.imerit-prod.io/~gitbook/image?url=https%3A%2F%2Flh7-us.googleusercontent.com%2Fdocsz%2FAD_4nXebAA1IULvrU1Jqoi9xLkqpw8eTE-dsURKlwTJxE3yGaOEd9KltfYskZZbaSgbFXJEpqkcgiSXcI5vjPeHQx-TaJkdKvYFIu4PWa5aOUCYzHTLJ7f975t3-N9D7Q0r7hqn9_VpDraZtB_eCCjYk5WqtTGR5%3Fkey%3DlGhAQLv5xC3Ciuwf6zBTGQ\&width=300\&dpr=4\&quality=100\&sign=be9414f4\&sv=2) Timeline * Displays all frames within the frame sequence. * To see more frames, drag the horizontal white bar below the timeline. * Navigate by: * Clicking on a frame * Dragging the timeline marker * Entering a frame number * Clicking first, previous, play, next, last buttons ![](/files/2e497cb990ad6f5b8b4aa67573f31489491ccd7d) ![](/files/f1682be568f24f5796fc8085672bbfabb0e40809) ![](/files/31828c2e102b8809fe097df1b0f41ac7722e5b5a) Menu Option ![](/files/9163b17a3b02e082366db015bfbce0e9d04cf197) Tool Setting * Configure Point Cloud visibility and related settings. Timer Range * Each point captured by a LiDAR sensor has a timestamp relative to the frame reference time. * Using the Timer Range filter you can select a range (e.g., -49 to +49) to filter points. Keeping sliders fully extended shows the entire point cloud. ![](https://docs.imerit-prod.io/~gitbook/image?url=https%3A%2F%2Flh7-us.googleusercontent.com%2Fdocsz%2FAD_4nXdeInDO1ScZAUOqRzTJjLJH6qyXfUphiu94n4fWA0_qgKN3AdJ7J5f2S3bkej1TQ6vxc8_TycIgCELnkNFp8f4L84CJjTEPpCkA5w3jY-HfzqxWJsdKPVByBQU2zHdaDXtEEbn_Wjo3e50TL-dhD14-mQqV%3Fkey%3DlGhAQLv5xC3Ciuwf6zBTGQ\&width=768\&dpr=4\&quality=100\&sign=7a30de4e\&sv=2) Point Budget * Sets number of points to be loaded per frame (default 5 million). * If a frame has >5M points, the tool loads 5M in the viewable area; panning/zooming loads other points. * The tool also preloads previous/next frames for smoothness. * Increasing the limit may increase latency. ![](/files/5690ff142f28cdbe4c1938e3a97af71d3f6a993d) Enable Eye Dome Lighting (EDL) ![](/files/73927bde0ad830c41b74927ce0faaee8ffacaaf8) * EDL accentuates shapes in a point cloud by visually grouping nearby objects and shading outlines, improving depth perception. Class Point Brightness ![](/files/87cbce5bd73656a13277e0ca2ba7bc7455ade3f1) * Points that have been classified appear in their class colour. * Use this slider to reduce brightness of coloured points. Background ![](/files/68cab9676bb9cf92c4d4a9794917c6bb363eae2e) * Change background colour to suit different lighting situations. Point Size Modifier ![](/files/0ed3a6411ba393474a70bfc18984274a1cd38aed) * Increase/decrease point size on the screen. Point Colours ![](/files/80434cf2fd72fa47b929391d43f75088d2a8f572) View points in different colour schemes: * Plain Colour: single chosen colour from the palette. * Elevation Gradient: colours based on elevation (Z-axis). * RGBA: uses RGB field if present in point cloud data. * Intensity (B-G-Y-R): maps intensity to Blue → Green → Yellow → Red gradient. * Intensity (B-C-T-G-Li-Y-O-R): maps intensity across a more granular colour ramp (Blue → Cyan → Teal → Green → Lime → Yellow → Orange → Red). * Intensity (Rainbow): rainbow palette. * Intensity Grayscale: maps intensity between white and black. * Classification: displays points based on pre-labeling segmentation (e.g., ground vs non-ground). Speed Controls ![](/files/4e1dbe9ba955d376368916c1ed2eb886ecc687a0) * Calibrate mouse scroll speed. Higher value = further distance traveled per scroll. Regions of Interest (ROI) ![](/files/193919a0f8af26a80a150a43425682935573c67f) * ROI visually defines areas that need labelling. * Learn how to use: ![](https://docs.imerit-prod.io/~gitbook/image?url=https%3A%2F%2Flh7-us.googleusercontent.com%2Fdocsz%2FAD_4nXdhIHaPBmNWUsVhjRJCJFVUf09MhhsTnS8YI_l7ITS6la6DgR-zxOCw8FaER5Vm8LeMIvbzI2Xu0MhBiCsX6pQi3S-NMFGfBC6T-h5BUBRAmVyQoxzYu138mnWH4iFTkpDmn1rwGRDusUz6drvT2Y7qFgh0%3Fkey%3DlGhAQLv5xC3Ciuwf6zBTGQ\&width=768\&dpr=4\&quality=100\&sign=227011b\&sv=2) Attributes: Task & Batch Level * Task-level attributes and batch-level attributes defined in project setup are reflected here for annotators to input: * Task-level: * Batch-level: Adding Comments * Annotators can add doubts or comments; the next expert in the pipeline is notified at the next node: Validate Task (AutoQA) * Frame-specific instructions or constraints appear here for annotators to follow. * Read more: Class List * Reflects all classes defined during class creation: * Can be collapsed to maximize point cloud view. * Includes classes with and without instances. ![](/files/aa45f0cfd9df95d2a0aca76f67cf84bffdba1510) Learn how to use it: Other Controls (below Class List) Filled Boxes * Fills cuboids with the class colour. ![](https://docs.imerit-prod.io/~gitbook/image?url=https%3A%2F%2Flh7-us.googleusercontent.com%2Fdocsz%2FAD_4nXcKuACaZWpN9p3xKdiTNgw4uY9JcpdcP2qhrE8cY93ps70Bj1tW6Ea_O4S4TrtIvVmjwPhcG_nDXKBFxS6Shq0oM1rMzqj_-gO5LvyutwNtMbgz9L63VKo75s_vBdMj7GU5xkB-hlAT62c2lrm7N4tX75-H%3Fkey%3DlGhAQLv5xC3Ciuwf6zBTGQ\&width=768\&dpr=4\&quality=100\&sign=6ebd481\&sv=2) Object Names * Displays names of all annotations on both point cloud and reference image. ![](https://docs.imerit-prod.io/~gitbook/image?url=https%3A%2F%2Flh7-us.googleusercontent.com%2Fdocsz%2FAD_4nXevQJVHiRhCVBzM1ZIulbEyPjNwnqjQnoOwbZ_t0tv-7ZrXrU1d7G5yc57NC6O84XZhdbxg9DZdmuOE0NNjgVY4PjT93NlXUc8LUutnZbSnB0h1HwZ2GnKOWmsWtPlUwYejpBaS-nCeJSd92np2xWDKB5Bi%3Fkey%3DlGhAQLv5xC3Ciuwf6zBTGQ\&width=768\&dpr=4\&quality=100\&sign=da9e6898\&sv=2) Point Cloud * Central area dedicated to the Point Cloud sensor (3D space for navigation). * Learn about navigation controls above. ![](https://docs.imerit-prod.io/~gitbook/image?url=https%3A%2F%2Flh7-us.googleusercontent.com%2Fdocsz%2FAD_4nXdWa5iYdevR23sVCsTPusP0jXeOEWzPcyHJv9ujBgQmleQybhGLuc9iJfsaYjUR-DyuWl77pUFZ24qhBlRhDLPNokRKfE_VMJM60thzQlKNEXa8LFu0jJnnQGors0dzAs4_3c675PwQO-XI6me5l8IC_HPX%3Fkey%3DlGhAQLv5xC3Ciuwf6zBTGQ\&width=768\&dpr=4\&quality=100\&sign=bd68b7e8\&sv=2) Ground and Ceiling Mover * Two-way slider (bottom right) to hide points from ceiling to ground and vice versa; helps control obstructing points. * Learn how to use it: Show All Points * Filter to keep only ground points visible (calculated with/without ML). ![](/files/e7e83c1fdd6af82f9dfdb922e112b4dc98adf1b1) Image Panel * Collapsible image panel below the point cloud containing all cameras linked to the point cloud. * Helps identify objects for marking in the point cloud. * Camera name is shown on each image. * Panel acts like a carousel with arrows to navigate. * Double-clicking an image toggles fullscreen and replaces the point cloud view. Press Esc to return. ![](https://docs.imerit-prod.io/~gitbook/image?url=https%3A%2F%2Flh7-us.googleusercontent.com%2Fdocsz%2FAD_4nXf7Fs8xAPpUOcpQQYMjs-iUrzH2C-jNXgT-2O7_tVya4MQPXrm_0rG9xp9Kds_qR_DPJ864OchqrXn7KLxIZU61y3T9NsUiIdJwHoOUv_io0ypDtuQfj2fJ02RBdBJfV-rt9_w2ePizsHH296CWJ-gdJLw%3Fkey%3DlGhAQLv5xC3Ciuwf6zBTGQ\&width=768\&dpr=4\&quality=100\&sign=261c678c\&sv=2) ![](https://docs.imerit-prod.io/~gitbook/image?url=https%3A%2F%2Flh7-us.googleusercontent.com%2Fdocsz%2FAD_4nXeEvld_K7LF8Byy7dYBrB_qyrCntmbO5c0oTEEEdzMv3sYZpTQa_PoxzJTvoRro8fbd5XwGbbmJ9-57vV0bkEAibZPskYumd5Z9r8XD-311QXvY35JbaRJR5nAr6srttiOhFuRg_xyOM8MqGRutcdbljVbg%3Fkey%3DlGhAQLv5xC3Ciuwf6zBTGQ\&width=768\&dpr=4\&quality=100\&sign=fc8075f3\&sv=2) Annotation Detail Annotation Hover * Top-right of the point cloud displays a label of the annotation being hovered over with its attribute values. * Toggle visibility with shortcut: L ![](/files/2324439b5e26743b4b6e1fe35d0b04172fcdb813) Annotation Click (Cuboid Only) * The status link displays class name and dimension details on the top-right of the point cloud (enabled for Cuboid). * Selecting an annotation highlights its occurrence across frames in the timeline using the class colour. * Expanding the timeline shows time-varying and constant attribute values linked to the selected annotation's class: * Attribute types: ![](https://docs.imerit-prod.io/~gitbook/image?url=https%3A%2F%2Flh7-us.googleusercontent.com%2Fdocsz%2FAD_4nXewJIRYqlnTS6kmrv1OcHmQYnZMSC37zwMxC4UrRRP45XddLGuhOnX6zNrEuRq49q7OV2c4wLsWBKUfSrY8LIYuJr_9VKm4Z2d97sf-5LuAm1T6_4CcgaR_AwlOeCj5kD83OWSafufDJ842dLz1lXquKhM3%3Fkey%3DlGhAQLv5xC3Ciuwf6zBTGQ\&width=768\&dpr=4\&quality=100\&sign=42e2b05e\&sv=2) ![](/files/94e90db58be6f051d8499ca98105f8dc040865cc) ![](/files/b63f22aa189ae856a6ed2f48cba0c56589d55473) Annotation Right Click * Users can view details entered at creation time for an annotation. ![](https://docs.imerit-prod.io/~gitbook/image?url=https%3A%2F%2Flh7-us.googleusercontent.com%2Fdocsz%2FAD_4nXcnsibVINDVnuOfE5djgpsFm1MAI0Dn4IvA_huH1jBhnvONR8NDZ1qrCLm9pUx59VSKhjD17FKdWzslXM9-PofnOoZb7JKUMuS1ZPpNxeJZbRNNnrNrtHjmu05izYBsPrN_-TdLJcY1mT75cfdaFw10Eyc2%3Fkey%3DlGhAQLv5xC3Ciuwf6zBTGQ\&width=768\&dpr=4\&quality=100\&sign=b40f3110\&sv=2) Related links * Annotation Tool (previous): * Steps to Label (next): Last updated 6 months ago