3D Multi-Sensor Fusion Labeling Editor

3D Multi-Sensor Fusion Labeling Editor

This page is under construction.

The Point Cloud Editor is not currently available on Ango Hub. This notice will be removed once it becomes available. Thank you for your patience.

Ango Hub features a multimodal point cloud labeling editor. This editor is opened when annotating LiDAR assets.

User Interface

The layout of the user interface might change according to the type of data being annotated.

Top Bar

Icon	Description
	When a cuboid is selected, rotate the direction of the cuboid by 90 degrees.
	When a cuboid is selected, enter Focus Mode for the selected cuboid. More on Focus Mode here.
	Switch the main view between 2D (top-down) and 3D mode.
	[TODO]
	Perform Automatic QA [TODO]
	Activates Isolate Mode to narrow down the amount of points visualized in the main view. More on Isolate Mode here.
	Activates Outlier Mode. When Outlier Mode is active, points which have not been segmented will flash. More on Outlier Mode here.
	Merge all points from all frames into a single point cloud. Read more on Frame Merging here.
	Switch between Orbital and Helicopter mode. More on Orbital and Helicopter modes.
	Jump to the origin point.
	Toggle fullscreen.
ISSUES	[TODO]
	Shortcuts opens a list of available keyboard shortcuts. Instructions displays the project instructions, if any.

3D View

The 3D view contains the point cloud itself. By default, it displays a 3D representation of the points. Using the WASD keys on your keyboard will allow you to navigate in 3D space. You may switch between a 3D or a 2D view by using the 2D/3D toggle on the top bar.

Point Height Slider: Allows you to determine a height range between which points will be displayed. Points outside of the range will not be displayed:

Point Height Filter: Choose whether to display all points, only points on the ground, or only points not on the ground.

Class List

The Class List contains the list of classes created in the project settings page, as well as each object created with each class.

To display a list of objects created with each class, click on the class name to expand it:

Class Row

Icon	Description
	Enable/disable object clipping. When clipping is enabled, points belonging to the class will not be displayed in the 3D view.
	When enabled, cuboids belonging to the class will be locked from being edited.
	Show/hide objects belonging to the class.
	Create new object belonging to the class.

Object Row

Icon	Description
	Center the camera on the object.
	Delete the object.

Additionally, double-clicking on an object row opens up the Object Edit dialog:

Object Edit

Function	Description
Class name	Pick a class for the selected object.
Instance	Pick a class instance for the selected object.

This is then followed by a list of nested questions (aka attributes) of the class belonging to the object.

Image Carousel

Timeline

Navigating in 3D Space

Navigational Modes

Orbital Mode

In Orbital Mode, the camera will keep pointing at the same point. Pressing the WASD keys on your keyboard will fly the camera up, left, down, and right while maintaining its gaze on the point:

Helicopter Mode

In Helicopter mode, WASD on your keyboard will pan the camera forwards, left, backwards, and right, as if you were piloting an helicopter:

Visualization Aids

Isolate Mode

TODO

Outlier Mode

Enabling Outlier Mode makes points not part of an object flash. This makes unsegmented points more recognizable:

Frame Merging

If your point cloud is composed of multiple frames, enabling Merged PC will visually merge all frames into a single point cloud for visualization purposes.

Creating an Annotation

From the Class List, click on the icon next to the class belonging to the object you would like to create. Then, click on the 3D view where you would like to initially place the object. The cursor will automatically snap to nearby points.

Once you have clicked where you would like the object to be initially placed, the Object Edit dialog will appear, where you will be able to assign the newly created object to a class and an instance: (see here for more on the dialog)

Editing an Annotation

Once an object has been created, it can edited by being moved, rotated, resized, and more.

First, click on the object you would like to edit.

If you would like to enter Focus Mode, to focus the entire interface on the selected object, click on the Focus button in the top bar. In most cases, this improves the object editing experience.

Rotation

To rotate the direction of the object, click on the button in the top bar:

Position

To change the position of the object, click on one of the straight bars in the direction you would like to move the object to.

For example, to move the object in the X direction, click and drag on the red bar, with green for Y and blue for Z:

Dimensions

To resize an object in a specific direction, click and drag the point in the direction you want to expand or contract the object.

For example, to change the dimensions of the object in the X direction, click and drag on the red point, next to the side of the object you would like to move. Green indicates the Y direction and blue the Z direction:

Focus Mode

Clicking the Focus toggle on the top bar while an object is selected activates Focus Mode for that object.

Focus Mode allows you to focus the user interface on the selected object to facilitate its editing.

Once Focus Mode is active, the Focus Mode dialog will appear:

Focus Mode Dialog

The four buttons starting from the left position the camera in:

1. 3D mode (free roam)

2. Front of the object

3. Right of the object

4. Top of the object

The slider changes the opacity of the points not currently in the object. The "X" exits Focus Mode.