Point cloud color modes

height this mode colors the points based on point height, meaning that a point close to the ground will have one color, and a point at the top of a tree will have another the height mode can help you understand the scene quicker because it separates the points from each other you can choose between two color gradients rainbow road all colors of the rainbow gradient a gradient going from blue to red based on the height read about its settings under the window docid\ fwdytg7 c jxh1jmqniqo page intensity depth this mode colors the points based on their distance from the origin of the point cloud this can be useful while working in grid view to know if certain points are belonging to the current object or are located further away you can choose one setting rainbow road all colors of the rainbow cycling accoording to the point cloud color interval setting read about its settings under the window docid\ fwdytg7 c jxh1jmqniqo page intensity in this mode the color is determined by how much the environment reflects light a very reflective surface will create a bright point, and a semi reflective will make a less bright point this mode is beneficial when annotating roads, as the white lane markings reflect light very well there are two options for viewing intensity intensity , grayscale colormap showing the intensity of each point intensity gradient , a colorful colormap showing the intensity of each point going from blue to red, where red are more reflective both intensity modes allows you to change the brightness, contrast, gamma, and range of the intensity curious to know more? go to intensity mode settings docid\ s i9ooppae8 fl4skp97z timestamp in this mode the color of the points is determined by the timestamp of each point, visualized with a color gradient from the lowest time to highest timestamp in the full lidar sweep the gradient goes from blue (lowest) to red (highest) classification this mode is only available in 3d point classification docid\ pjhfysmx9pnqw12xynior tasks this will color the point cloud with the class that have been annotated for each point in the point cloud there are two versions of this color mode classification a color mode which shows the class color of each annotated point in the point cloud classification intensity a hybrid color mode between classification and intensity , this may be required for annotating reflective parts of the scene, such as road paintings which cannot be revealed without this color mode classification height a hybrid color for classification and the z value of the points classification depth a hybrid color fo classification and the x y distance of the points sensor coloring this mode is only available in 3d multi sensor docid 2jqv98eeyu5psbw6urqtc tasks this allows you to view each 3d sensor with a unique color in the sensor display settings docid\ yboy v4cwzcvq9eeuhr o you are able to toggle on and off sensors you wish to view or not view frame rgb in this color mode each frame will be assigned a color from an alternating color map the intensity of the points will scale the color accordingly useful when trying to find dynamic objects in the aggregated point cloud view image colors / rgb this color mode will projects the colors of the camera image(s) into the point cloud any point that does not fall into a camera image will become transparent in certain scenes, only the view point of the current camera will have the colors applied to the point cloud due to a technical limitation meanwhile, in pure image based scenes the colors from each image and frame will be applied to the point cloud