3D Multi-Sensor Fusion Labeling Editor
3D Multi-Sensor Fusion Labeling Editor
Last updated
3D Multi-Sensor Fusion Labeling Editor
Last updated
Ango Hub features a multimodal point cloud labeling editor. This editor is opened when annotating LiDAR assets.
The layout of the user interface might change according to the type of data being annotated.
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.
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:
Additionally, double-clicking on an object row opens up the Object Edit dialog:
This is then followed by a list of nested questions (aka attributes) of the class belonging to the object.
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:
In Helicopter mode, WASD on your keyboard will pan the camera forwards, left, backwards, and right, as if you were piloting an helicopter:
TODO
Enabling Outlier Mode makes points not part of an object flash. This makes unsegmented points more recognizable:
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.
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)
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.
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:
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:
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:
The four buttons starting from the left position the camera in:
3D mode (free roam)
Front of the object
Right of the object
Top of the object
The slider changes the opacity of the points not currently in the object. The "X" exits Focus Mode.
Click on the three-line menu on the bottom-right side of the screen:
Then, click on Tool Settings. This will open the tool settings on the left-hand side of the screen.
Point Budget: Set the maximum number of points the tool should try to load.
Enable Eye Dome Lighting: When disabled, advanced lighting effects are turned off, potentially improving performance.
Change the brightness of the points assigned to a class.
Pick a color for the background.
Fixed: Points have a fixed size on the screen, and stay the same size regardless of zoom level.
Adaptive: Points have a fixed size in the 3D world, becoming smaller/bigger depending on zoom level.
Alter the size of the points.
Add, remove, or show areas of interest in the 3D view:
| Icon | Description |
|---|---|
| Icon | Description |
|---|---|
| Icon | Description |
|---|---|
| Function | Description |
|---|---|
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.
To rotate the direction of the object, click on the button in the top bar:
| Color Type | Description | Additional Settings |
|---|---|---|
Class name
Pick a class for the selected object.
Instance
Pick a class instance for the selected object.
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.
Switch between different sensors.
Perform label validation.
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
When reviewing, open the issues dialog.
Shortcuts opens a list of available keyboard shortcuts.
Instructions displays the project instructions, if any.
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.
Center the camera on the object.
Delete the object.
PlainColor
Unannotated points will be painted with a single color of your choice.
Elevation gradient
Unannotated points will be painted with a vertical gradient of colors based on their elevation.
RGBA
Unannotated points will be painted black by default, with a number of settings which can be altered.
Intensity (B-G-Y-R)
Unannotated points will be painted in a gradient going from blue, to green, yellow, and red, based on their intensity value (if provided during import)
Intensity grayscale
Unannotated points will be painted in a gradient going from black to white based on their intensity value (if provided during import)
Classification
Unannotated points will be painted in different colors if they belong to different classification classes.
GpsTime
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When a cuboid is selected, clicking on STATUS displays the object status table:
Opens the Help menu:
Batch Information displays the Batch Information help dialog:
Color picker to pick the color for all unannotated points.
Slider to adjust the gradient position.
Gamma, brightness, and contrast settings for unannotated points:
