--- title: Point cloud color modes slug: task-view-guide/point-cloud-color-modes docTags: createdAt: 2024-06-17T11:50:20.594Z --- ### 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. ::Image[Intensity]{src="https://api.archbee.com/api/optimize/wLEz_RbWP6nIMpY-prjlm/ViSd4LW2PYPASY2Ibx61w_image.png" size="60" width="909" height="551" position="center" caption="The height rainbow road color mode" showCaption="true"} ::Image[]{src="https://api.archbee.com/api/optimize/wLEz_RbWP6nIMpY-prjlm/RzTjaIbXcOViZnZxcpb3g_image.png" size="60" width="909" height="551" position="center" caption="The height gradient color mode" showCaption="true"} ### 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. ::Image[]{src="https://api.archbee.com/api/optimize/wLEz_RbWP6nIMpY-prjlm/kJ0rP-u07Jfmx-nIpy1CQ_image.png" size="60" width="909" height="551" position="center" caption="The depth rainbow road color mode" showCaption="true"} 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. ::Image[]{src="https://api.archbee.com/api/optimize/wLEz_RbWP6nIMpY-prjlm/Ww9iy0ictGR3ijQ_P-1fx_image.png" size="60" width="909" height="551" position="center" caption="Intensity color mode" showCaption="true"} ::Image[]{src="https://api.archbee.com/api/optimize/wLEz_RbWP6nIMpY-prjlm/DHtGTV3KNS-fIp4cw3W69_image.png" size="60" width="909" height="551" position="center" caption="Intensity gradient color mode" showCaption="true"} :::hint{type="info"} 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). ::Image[]{src="https://api.archbee.com/api/optimize/wLEz_RbWP6nIMpY-prjlm/MG6rF1V6ErOhPHmVo4ZAf_image.png" size="56" width="704" height="761" position="center" showCaption="false"} ### 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. ::Image[]{src="https://api.archbee.com/api/optimize/wLEz_RbWP6nIMpY-prjlm/-NB9pKOgXUPHKMua1f1Ot_image.png" size="60" width="909" height="551" position="center" caption="Classification intensity color mode" showCaption="true"} ::Image[]{src="https://api.archbee.com/api/optimize/wLEz_RbWP6nIMpY-prjlm/5wKF22FMgNUSYd7PXMSpR_image.png" size="60" width="909" height="551" position="center" caption="Classification intensity color mode" showCaption="true"} ### 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. ::Image[]{src="https://api.archbee.com/api/optimize/wLEz_RbWP6nIMpY-prjlm/RTO70Ql2R6czWam6TazaL_image.png" size="60" width="2480" height="1524" position="center" caption="The sensor colors color mode" showCaption="true"} ### 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[]{src="https://api.archbee.com/api/optimize/wLEz_RbWP6nIMpY-prjlm/osG3I-VeEweCUF4BDJf9G_image.png" size="60" width="814" height="599" position="center" showCaption="false"} ### 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. ![](https://api.archbee.com/api/optimize/wLEz_RbWP6nIMpY-prjlm/DC85wyorzxlwdTLQyvdx1_image.png)