3D multi-sensor
In a multi-sensor task, you will be presented with many 3D sensors simultaneously, each with a different color. Each sensor detects an object at different times in one frame - what you will see in the 3D view is the object at different locations for each color.
In multi-sensor tasks, you use the same drawing tool as in 3D object detection.
In these tasks you will have an additional property called "Primary sensor".
When you have created a cuboid you will be able to tell which color that has the most points inside the box - this is your primary sensor.
If possible, try and keep to the same primary sensor throughout a sequence. Only change the primary sensor when you really find the primary colors have changed.
Projection not trustworthy
A message that can appear after creating an object is that "the projection is not trustworthy". This means the projection in the first frame that an object has been annotated in cannot provide a reliable projection.
Therefore, we do not recommend that you adjust the object size or position too much based on the projection you see in the 2D minature image in this frame. If you step forwards in the sequence and edit the box the projection will become trustworthy again.
Each sensor (point cloud color) shows the object at a specific point in time. Therefore, the object location can differ or overlap.
For example, in the image below the purple and orange sensor colors show the same object but at different locations.
Whereas in this image, the object overlap between the sensors:
If they don't overlap it is important to think of two things:
- Don't create one long box that covers all sensors.
- Don't two separate objects for each sensor.
What we recommend you do, is:
Creating a box around the points with the color you find mainly outlines the object.
In the multi-sensor tasks we recommend that you stay in the color mode "sensor coloring". If you leave this color mode you will not be able to view the different sensors that are available.
When the pointcloud color mode "sensor coloring" has been selected you are able to switch the individual sensors on/ off in the sensor display setting window.
This window will be open when entering a multi-sensor task but if you close it and want to open it again you can do so through the left toolbar menu.