> 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 6 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)

![](https://content.gitbook.com/content/TcOUG6rfWxqGM0N4db2P/blobs/WnR4jTVRB3TPy7Fz2M13/image)

![](https://content.gitbook.com/content/TcOUG6rfWxqGM0N4db2P/blobs/spxwisyKTb2xhnt1583b/image)

## Header

The header consists of the following actions:

![](https://content.gitbook.com/content/TcOUG6rfWxqGM0N4db2P/blobs/jSYOUYHpsaVdtZJ48k72/image)

### BEV-3D Mode

*

```
<img src="../../../.gitbook/assets/image (70)" alt="" width="188">
```

* Toggle to view the point cloud in BEV (Bird's Eye View) or 3D.
* When BEV is selected, annotators can mark objects from the top view.
* When 3D is selected, annotators can mark objects from any angle.

### Rotation

<figure><img src="https://3895963154-files.gitbook.io/~/files/v0/b/gitbook-x-prod.appspot.com/o/spaces%2FTcOUG6rfWxqGM0N4db2P%2Fuploads%2FrUPN2AMTM8YrwvMxl5yU%2FScreenshot%202026-09-07%20at%2011.17.03.png?alt=media&amp;token=859138b3-b08a-4197-b38f-760901c68893" alt="" width="44"><figcaption></figcaption></figure>

* Enabled only after selecting cuboid.
* Rotates the Cuboid direction 90 degrees anti-clockwise.
* Shortcut: R Key

### Autofit

<figure><img src="https://3895963154-files.gitbook.io/~/files/v0/b/gitbook-x-prod.appspot.com/o/spaces%2FTcOUG6rfWxqGM0N4db2P%2Fuploads%2FiTIlnftPnGB3AzqRaGcs%2FScreenshot%202026-09-07%20at%2011.18.58.png?alt=media&amp;token=c1f7d147-ca9e-4ff5-b979-c3d0fd955c50" alt="" width="43"><figcaption></figcaption></figure>

* Visible and 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.

### Merge Point Cloud

<img src="https://content.gitbook.com/content/TcOUG6rfWxqGM0N4db2P/blobs/q3USrNwwMSSCDPl2adPT/image" alt="" width="188">

* Helpful in sequential tasks to identify and mark objects in their stationary state.

[Learn how to use](/3d-multi-sensor-fusion/labeling/3d-multi-sensor-fusion-labeling-editor/key-features/merged-point-cloud.md)

### Outlier

<figure><img src="https://3895963154-files.gitbook.io/~/files/v0/b/gitbook-x-prod.appspot.com/o/spaces%2FTcOUG6rfWxqGM0N4db2P%2Fuploads%2FEIMAsQ0YibTijHzlgr5l%2FScreenshot%202026-09-07%20at%2011.28.09.png?alt=media&amp;token=69d69b8f-e182-408b-858f-84aad5b2c745" alt="" width="93"><figcaption></figcaption></figure>

* Toggles visibility of unlabelled points; unlabeled points will blink to aid locating them.

[Learn how to use](/3d-multi-sensor-fusion/labeling/3d-multi-sensor-fusion-labeling-editor/key-features/outlier.md)

### Hotzone

* Focus on specific areas of the point cloud to avoid background distraction while labelling.

[Learn how to use](/3d-multi-sensor-fusion/labeling/3d-multi-sensor-fusion-labeling-editor/key-features/hotzone.md)

### Navigation Controls

There are 2 modes available to navigate the point cloud.

#### Helicopter Mode

<figure><img src="https://3895963154-files.gitbook.io/~/files/v0/b/gitbook-x-prod.appspot.com/o/spaces%2FTcOUG6rfWxqGM0N4db2P%2Fuploads%2FOLKBp4Px8QKlQrTGJqWN%2FScreenshot%202026-09-07%20at%2011.30.25.png?alt=media&amp;token=fbdeab05-6001-4ec3-971f-88762c4bd5c1" alt=""><figcaption></figcaption></figure>

* 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

#### Orbital Mode

<figure><img src="https://3895963154-files.gitbook.io/~/files/v0/b/gitbook-x-prod.appspot.com/o/spaces%2FTcOUG6rfWxqGM0N4db2P%2Fuploads%2FiQU6x8jsTNjXXjLw54s0%2FScreenshot%202026-09-07%20at%2011.32.02.png?alt=media&amp;token=884350e1-f605-4f43-8b49-a2531894ae6c" alt=""><figcaption></figcaption></figure>

* 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

### Fit to Screen

<figure><img src="https://3895963154-files.gitbook.io/~/files/v0/b/gitbook-x-prod.appspot.com/o/spaces%2FTcOUG6rfWxqGM0N4db2P%2Fuploads%2FL3E02KscM5MavNr7fKhx%2FScreenshot%202026-09-07%20at%2011.33.45.png?alt=media&amp;token=3a0b9b1c-939f-4378-9af3-b1f25fc00cce" alt=""><figcaption></figcaption></figure>

* Fits the entire point cloud within the browser screen.
* Shortcut: Ctrl + F

### Jump to Origin

<figure><img src="https://3895963154-files.gitbook.io/~/files/v0/b/gitbook-x-prod.appspot.com/o/spaces%2FTcOUG6rfWxqGM0N4db2P%2Fuploads%2FVWnGJToBKo3yEFKBeJWC%2FScreenshot%202026-09-07%20at%2011.34.08.png?alt=media&amp;token=8bf511e9-4cb5-4b2a-bb8e-8ac5b7b3bac8" alt=""><figcaption></figcaption></figure>

* Navigates back to the default origin coordinates when the task loads.
* Shortcut: O (alphabet)

### Toggle Fullscreen

<figure><img src="https://3895963154-files.gitbook.io/~/files/v0/b/gitbook-x-prod.appspot.com/o/spaces%2FTcOUG6rfWxqGM0N4db2P%2Fuploads%2FQZgGxWt5DMcUj1GwTC0O%2FScreenshot%202026-09-07%20at%2011.34.17.png?alt=media&amp;token=3718ef5f-3eb2-4ccd-9384-18c361d653fa" alt=""><figcaption></figcaption></figure>

* Hides the browser bar and makes the tool fullscreen.

### Sensor

<img src="https://content.gitbook.com/content/TcOUG6rfWxqGM0N4db2P/blobs/7CmvQIsDqncOKZopqSnW/image" alt="" width="188">

* 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.

### Status

<img src="https://content.gitbook.com/content/TcOUG6rfWxqGM0N4db2P/blobs/poSI9nK7hXUgCxIKEL6H/image" alt="" width="375">

* Enabled on selecting a Cuboid
* Opens a box showing:
  * Class
  * Dimension
  * Instance (if class has instances)

### Issues

<img src="https://content.gitbook.com/content/TcOUG6rfWxqGM0N4db2P/blobs/JjOKR9uVlr6CE2qHIqgI/image" alt="" width="188">

* Auditors raise issues as issue cards.
* After auditing, batches can be reopened in the Annotation tool with issue cards visible for resolution.

[Learn how to use](/core-concepts/issues/issue-error-codes.md)

### Validation

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

Executes logical validation on each task to:

1. Ensure better quality
2. Allow retraining of annotators

[Learn how to use](/3d-multi-sensor-fusion/labeling/3d-multi-sensor-fusion-labeling-editor/key-features/interactive-validations.md)

### Help

<figure><img src="https://3895963154-files.gitbook.io/~/files/v0/b/gitbook-x-prod.appspot.com/o/spaces%2FTcOUG6rfWxqGM0N4db2P%2Fuploads%2FYh6EhFejrik0cTKPKuO3%2Fimage.png?alt=media&amp;token=2b1d6b7c-b47e-4775-b700-97d0e1f1367d" alt="" width="220"><figcaption></figcaption></figure>

* Top-right help icon shows Shortcuts and Task Information.

#### Shortcuts

<img src="https://content.gitbook.com/content/TcOUG6rfWxqGM0N4db2P/blobs/dDdpWPEYupodammqmB8Q/image" alt="" width="188">

* Selecting 'Shortcuts' opens a right panel listing labelling shortcuts.

[Learn how to use](/3d-multi-sensor-fusion/labeling/3d-multi-sensor-fusion-labeling-editor/tool-shortcuts.md)

#### Task Information

<figure><img src="https://3895963154-files.gitbook.io/~/files/v0/b/gitbook-x-prod.appspot.com/o/spaces%2FTcOUG6rfWxqGM0N4db2P%2Fuploads%2FJRzoAKLGOjoX7nMxXJks%2FScreenshot%202026-09-07%20at%2011.56.30.png?alt=media&amp;token=da7643e3-efed-4f2b-8322-4f4d5935b48c" alt="" width="375"><figcaption></figcaption></figure>

* Selecting 'Task Information' shows details in a box with a 'Copy to Clipboard' option.

## Footer

<figure><img src="https://3895963154-files.gitbook.io/~/files/v0/b/gitbook-x-prod.appspot.com/o/spaces%2FTcOUG6rfWxqGM0N4db2P%2Fuploads%2FNh5lCMfE5bG0es0xFh0P%2FScreenshot%202026-09-07%20at%2011.57.47.png?alt=media&amp;token=46e063dc-e6ba-41b6-9d6c-ffac08a01a82" alt=""><figcaption></figcaption></figure>

### Time Tracker

<figure><img src="https://3895963154-files.gitbook.io/~/files/v0/b/gitbook-x-prod.appspot.com/o/spaces%2FTcOUG6rfWxqGM0N4db2P%2Fuploads%2FGaIJlhuEootmCj329ozJ%2FScreenshot%202026-09-07%20at%2011.58.51.png?alt=media&amp;token=2ede538d-a05b-48a6-ba4a-839ab377e777" alt="" width="205"><figcaption></figcaption></figure>

* Displays time spent on a task in real time.

### Timeline

<figure><img src="https://3895963154-files.gitbook.io/~/files/v0/b/gitbook-x-prod.appspot.com/o/spaces%2FTcOUG6rfWxqGM0N4db2P%2Fuploads%2Fly87QV0AuUgiFoyiQN5y%2FScreenshot%202026-09-07%20at%2011.59.41.png?alt=media&amp;token=bf82b909-dc79-4e42-8529-81da2b99c201" alt="" width="375"><figcaption></figcaption></figure>

* 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

![](https://content.gitbook.com/content/TcOUG6rfWxqGM0N4db2P/blobs/kSHKHIkNiR170OMrlGRQ/image)

![](https://content.gitbook.com/content/TcOUG6rfWxqGM0N4db2P/blobs/Ua4WAiIoerncmNderVjw/image)

![](https://content.gitbook.com/content/TcOUG6rfWxqGM0N4db2P/blobs/NDd5YOsbwfT7GB5FqtwD/image)

### Playback Settings

<figure><img src="https://3895963154-files.gitbook.io/~/files/v0/b/gitbook-x-prod.appspot.com/o/spaces%2FTcOUG6rfWxqGM0N4db2P%2Fuploads%2Fgf7PcrQf96DzxG5uGPd1%2FScreenshot%202026-09-07%20at%2012.02.24.png?alt=media&amp;token=3e24ee3b-b596-44bf-b7e8-2f48a6b21f5c" alt="" width="204"><figcaption></figcaption></figure>

* Allows user control over the playback speed

### Menu Option

<img src="https://content.gitbook.com/content/TcOUG6rfWxqGM0N4db2P/blobs/eySx8w3j4edMDXID5a4C/image" alt="" width="188">

#### Tool Setting

<figure><img src="https://3895963154-files.gitbook.io/~/files/v0/b/gitbook-x-prod.appspot.com/o/spaces%2FTcOUG6rfWxqGM0N4db2P%2Fuploads%2F1FVXBFGuo8mdP4xP3mWJ%2FScreenshot%202026-09-07%20at%2012.05.26.png?alt=media&amp;token=670b1151-7cfd-4a67-a8ca-4879c4e98518" alt="" width="348"><figcaption></figcaption></figure>

* Configure Point Cloud visibility and related settings.

**Frame Jump Length**

<figure><img src="https://3895963154-files.gitbook.io/~/files/v0/b/gitbook-x-prod.appspot.com/o/spaces%2FTcOUG6rfWxqGM0N4db2P%2Fuploads%2FMdiO5Nfa0zta9UKKaUoy%2Fimage.png?alt=media&amp;token=b78f5ad2-64c0-4c0d-a4b1-98cb25bed417" alt="" width="337"><figcaption></figcaption></figure>

* The Frame Jump Length is by default 5. Shift + <, Shift + >, CTRL + < and CTRL + > will work on multiples of the value defined here.
* Enabling the checkbox **Play and Merged PC show every 5 frame** controls how many frames the tool skips during playback, letting users move through a sequence faster instead of stepping through every single frame. This same value also drives frame merging when Merged Point Cloud (MPC) is enabled: instead of aggregating every frame's points, the tool combines only every xth frame based on the configured Jump Length. This reduces the total point load rendered on screen, keeping both playback and MPC smoother and more responsive, especially in dense or long sequences.

**Enable Eye Dome Lighting (EDL)**

<img src="https://content.gitbook.com/content/TcOUG6rfWxqGM0N4db2P/blobs/z8bwpnLiMrg18WDO99C9/image" alt="" width="375">

* EDL accentuates shapes in a point cloud by visually grouping nearby objects and shading outlines, improving depth perception.

**Display crosshair when editing 2D annotations**

<figure><img src="https://3895963154-files.gitbook.io/~/files/v0/b/gitbook-x-prod.appspot.com/o/spaces%2FTcOUG6rfWxqGM0N4db2P%2Fuploads%2FUR1T64iMrkvKB0NnKPMY%2FScreenshot%202026-09-07%20at%2012.25.02.png?alt=media&amp;token=c825a20d-fb8b-454f-8164-ccbe41ad9690" alt="" width="327"><figcaption></figcaption></figure>

* Crosshair on the images can be enabled/disabled

**Class Point Brightness**

<img src="https://content.gitbook.com/content/TcOUG6rfWxqGM0N4db2P/blobs/Lsxztyrw0FzGi2ymW8sj/image" alt="" width="375">

* Points that have been classified appear in their class colour.
* Use this slider to reduce brightness of coloured points.

**Background**

<img src="https://content.gitbook.com/content/TcOUG6rfWxqGM0N4db2P/blobs/6pAIKvzmirnS0S3eDqGe/image" alt="" width="375">

* Change background colour to suit different lighting situations.

**Point Size Modifier**

<figure><img src="https://3895963154-files.gitbook.io/~/files/v0/b/gitbook-x-prod.appspot.com/o/spaces%2FTcOUG6rfWxqGM0N4db2P%2Fuploads%2Fsa6XDLkMfJLNWOHCP0OD%2FScreenshot%202026-09-07%20at%2012.28.00.png?alt=media&amp;token=ae750c56-c062-481f-957a-a6c612ae86b4" alt="" width="340"><figcaption></figcaption></figure>

* Increase/decrease point size on the screen to help with visibility.
* Minimum value : 1, maximum value : 5

**Point Colors**

<img src="https://content.gitbook.com/content/TcOUG6rfWxqGM0N4db2P/blobs/Ls4cWTvlKzj9sTaeApMK/image" alt="" width="375">

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**

<img src="https://content.gitbook.com/content/TcOUG6rfWxqGM0N4db2P/blobs/VkI9r4sQWKfgXRNbiVe9/image" alt="" width="375">

* Calibrate mouse scroll speed. Higher value = further distance traveled per scroll.

**Regions of Interest (ROI)**

<img src="https://content.gitbook.com/content/TcOUG6rfWxqGM0N4db2P/blobs/XpY8pxHeoyzfH3tWhFau/image" alt="" width="375">

* ROI visually defines areas that need labelling.
* [Learn how to use](/3d-multi-sensor-fusion/labeling/3d-multi-sensor-fusion-labeling-editor/key-features/regions-of-interest.md)

**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_4nXdhIHaPBmNWUsVhjRJCJFVUf09MhhsTnS8YI_l7ITS6la6DgR-zxOCw8FaER5Vm8LeMIvbzI2Xu0MhBiCsX6pQi3S-NMFGfBC6T-h5BUBRAmVyQoxzYu138mnWH4iFTkpDmn1rwGRDusUz6drvT2Y7qFgh0%3Fkey%3DlGhAQLv5xC3Ciuwf6zBTGQ\&width=768\&dpr=4\&quality=100\&sign=227011b\&sv=2)

#### Attributes: Frame & Task Level

* Frame-level attributes and batch-level attributes defined in project setup are reflected here for annotators to input:
  * [Frame Level](/3d-multi-sensor-fusion/labeling/3d-multi-sensor-fusion-labeling-editor/key-features/task-level-attribute-propagation.md#time-varying-task-level-attribute)
  * [Task Level](/3d-multi-sensor-fusion/labeling/category-schema/classifications.md#what-are-frame-task-classifications)

#### Adding Comments

* Annotators can add doubts or comments; the next expert in the pipeline is notified at the next level.

#### Validatation

* Another way to trigger [validation](#validation).

## Class List

<img src="https://content.gitbook.com/content/TcOUG6rfWxqGM0N4db2P/blobs/9B44LJFlJYyDUPNVY6ov/image" alt="" width="375">

* Reflects all classes defined during class creation

[Learn how to use](/3d-multi-sensor-fusion/labeling/3d-multi-sensor-fusion-labeling-editor/key-features/class-list-all.md)

### Other Controls (Below Class List)

<figure><img src="https://3895963154-files.gitbook.io/~/files/v0/b/gitbook-x-prod.appspot.com/o/spaces%2FTcOUG6rfWxqGM0N4db2P%2Fuploads%2FRHJCvci0Kme7toGUbbGn%2FScreenshot%202026-09-07%20at%2014.39.33.png?alt=media&amp;token=bb4d69be-dbb3-4f37-b2a2-be85f9dddef3" alt="" width="240"><figcaption></figcaption></figure>

#### Filled Boxes

* Fills cuboids with the class colour.

#### Object Names

* Displays names of all annotations on both point cloud and reference image.

#### Review Checkmarks

* Enabling the review checkmark marks an object as reviewed, giving a clear visual indicator in the class list. This helps annotators and reviewers track progress, avoid re-reviewing objects, and ensure nothing gets skipped during QA.

## Point Cloud

* Central area dedicated to the Point Cloud sensor (3D space for navigation).

<figure><img src="https://3895963154-files.gitbook.io/~/files/v0/b/gitbook-x-prod.appspot.com/o/spaces%2FTcOUG6rfWxqGM0N4db2P%2Fuploads%2F1zmkKQuNDTiOUwFRo8c6%2FScreenshot%202026-09-07%20at%2014.50.58.png?alt=media&amp;token=7853e9de-b85d-49e7-8ce2-22f082e1248d" alt=""><figcaption></figcaption></figure>

### 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](/3d-multi-sensor-fusion/labeling/3d-multi-sensor-fusion-labeling-editor/key-features/ground-and-ceiling-mover.md)

### Show All Points

* Filter to keep only ground points visible (calculated with/without ML).

![](https://content.gitbook.com/content/TcOUG6rfWxqGM0N4db2P/blobs/yOJ2DaWJWnzxbxRgXxlB/image)

## Image Panel

<figure><img src="https://3895963154-files.gitbook.io/~/files/v0/b/gitbook-x-prod.appspot.com/o/spaces%2FTcOUG6rfWxqGM0N4db2P%2Fuploads%2FzkDEJLsin4Mbt78CK9rz%2FReference%20Image%20Panel.gif?alt=media&amp;token=637abc7a-e8f8-4675-bb47-6e9a7e64c251" alt=""><figcaption></figcaption></figure>

* 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.

## Annotation Information

### 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

![](https://content.gitbook.com/content/TcOUG6rfWxqGM0N4db2P/blobs/okeTiioA34MjHTA8jeX2/image)

### Annotation Select

* The status link displays class name and dimension details on the top-right of the point cloud for cuboids and 2D bbox.
* 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](/3d-multi-sensor-fusion/labeling/category-schema/pct-class-level.md#add-classification)

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

![](https://content.gitbook.com/content/TcOUG6rfWxqGM0N4db2P/blobs/UZwKtbcn6iCLKwJxtlay/image)

### Annotation Details

* Users can view details entered at creation time for an annotation by right clicking the annotation and selecting Annotation Details.
* Double-clicking the annotation in the class list will also enable the same view.

<figure><img src="https://3895963154-files.gitbook.io/~/files/v0/b/gitbook-x-prod.appspot.com/o/spaces%2FTcOUG6rfWxqGM0N4db2P%2Fuploads%2Fue2NwyEqcCTBrJogBblw%2FScreenshot%202026-09-07%20at%2016.45.50.png?alt=media&amp;token=bc96131f-51ea-477c-91fd-280addf61e88" alt="" width="375"><figcaption></figcaption></figure>

<figure><img src="https://3895963154-files.gitbook.io/~/files/v0/b/gitbook-x-prod.appspot.com/o/spaces%2FTcOUG6rfWxqGM0N4db2P%2Fuploads%2F5JhCLzvcTTbgKBfC3H3a%2FScreenshot%202026-09-07%20at%2016.46.07.png?alt=media&amp;token=406be6a3-d5e0-423e-8d11-a0858f36cadb" alt="" width="375"><figcaption></figcaption></figure>