Importing Data in the 3D Multi-Sensor Fusion Labeling Tool
3DMSFT Data must be in a bucket you have connected to Ango Hub through storage integrations, and Ango Hub must have read and write permissions to the bucket.
To import assets into the Ango Hub 3D multi-sensor fusion (3DMSF) tool , you will need to prepare a folder for each asset you wish to import. This folder must adhere to the format outlined on this page and must be located in a cloud storage bucket you have previously connected to Ango Hub using storage integrations.
You will then place the link to that folder in a JSON you will upload onto the Ango Hub platform, either by dragging and dropping it from the UI, or from the SDK, or from Ango Hub's File Explorer.
JSON Format
Here is a sample JSON used to import one 3DMSFT asset:
The only difference from a standard import JSON is the fact that you must add the editorType property and set it to pct, and that the data URL is to a folder rather than a single file.
Folder Format
LiDAR Data (Required)
LiDAR data in the .las format must be placed in a subfolder named lidar. In the following example, and from now on for the rest of this section, we will create an example folder for an asset with two frames.
If present, you may include velocity data about the ego vehicle. This will enable the 3DMST "Merge Point Cloud" functionality, allowing you to see all frames at once.
Ego vehicle data must be placed in a .json file in a subfolder named ego_data. Each file must have the same filename as the related .las file.
And the following is an explanation of each field in the ego vehicle .json file to provide:
Ego vehicle data file field explanation
utmX_m: The distance the object has moved along the x-axis (in meters) with respect to the 1st frame.
utmY_m: The distance the object has moved along the y-axis (in meters) with respect to the 1st frame.
utmZ_m: The distance the object has moved along the z-axis (in meters) with respect to the 1st frame.
utmHeading_deg: Angle of Z rotation (Yaw)
transformationMatrix: Current frame lidar coordinate system displacement from the reference frame lidar coordinate system. The matrix is in row major format.
From your project, click on Add Data, then enter the File Explorer tab. Navigate to the folder containing your PCT sub-folders and data. Click on it to select it. Enable the PCT Upload toggle, then click on Upload. Your folder will be imported as PCT data.