View

The View menu controls what you see in the task view, without changing any annotations. Use it to adjust the camera images and the point cloud, the 3D camera and projections, turn on display helpers such as grids, trajectories and node display, and show or hide task guides.

Depending on the task and view, this menu tab will vary in items.

By default, image and frame pixels blend. When Pixelation is activated, you can see each pixel separately when you zoom in, which can be helpful in tasks where edges are essential.

When the inversion setting is activated, each pixel's color is changed to its opposite hue in the color spectrum.

This feature will provide better detail in over- or under-exposed pictures and pictures with poor contrast.

The camera items are only shown when you are viewing the point cloud.

The 3D camera can behave in three different ways (in the main view):

In aggregated scenes the camera is still by default and Follow ego vehicle is the only mode listed. Turn it on to keep the camera at the same offset to the ego vehicle as you step between frames, so the ego stays in view when you jump to a frame from a scene property.

You can toggle between the two camera controls in the 3D view. Read more on the Lidar camera controls page.

You can choose between two different modes for the main 3D camera. The default and recommended option is Perspective.

Turn it on to show the top-view side camera while in birdseye view, or off to hide it. Read more on the Object cameras page.

Toggles Object cameras.

The default setting is no grid.

The app supports two grids: Cartesian and Polar. Read a detailed explanation of each grid on the Grids page.

A projection is a shape created in one source and visualized in another. This section is available in tasks containing 3D objects.

The options are grouped by direction:

Curious how to use them? Read more on the Projections page.

A trajectory will show how the selected object changes position along the sequence. Each point along the line represents a frame and the object's position in that frame. Click on a trajectory point to go to that point in time. Read more about this feature in Trajectories.

Show arrows for the direction of 3D lines and lanes, for all of them, the selected one, or the selected one's class. Read more on the Direction indicator page.

Choose how many nodes from unselected lines and lanes are visible in the lidar view, so you can spot node placement without selecting each line. Available on 3D line and 3D lane tasks in lidar.

Hide object points filters point cloud data to hide points belonging to pre-labeled 3D boxes, making it easier to identify areas that require annotation work.

Color the visible 3D nodes on line and lane shapes by their vertical distance to the ground, so misaligned nodes stand out at a glance. Available on 3D line and lane tasks in lidar.

Number the visible nodes on 3D line and lane shapes, starting at 1 in the same order as the shape's nodes. Available on 3D line and lane tasks in lidar, off by default. Numbered nodes depend on 3D node mode; switch to All nodes to number every line. While a line is selected, other lines' numbers are dimmed. Selecting a 3D line shows node numbers in the projection in picture-in-picture.

Shade the area between two linked 3D lines or lanes to show which stretch each link covers. Found in 3D line and lane tasks in lidar, off by default. Select a linked line or lane to shade the area between centers over the link arrow, or turn on Edit tab to shade all links. Shapes with multiple links get one color per area, and hovering a link shows only that area.

To make the area more or less see-through, use Fill opacity under Helpers 3D in Window.

Toggle visibility of predictions and prelabels.

Read about its settings on the Window page.

A trajectory will show how the ego vehicle changes position along the sequence. Each point along the line represents a frame and the object's position in that frame. Click on a trajectory point to go to that point in time. Read about its settings on the Trajectories page.

Turn it on to give each instance its own color so you can tell neighbouring instances apart. Turn it off to color each point by its class. This option appears on 3D point classification tasks when viewing the point cloud.

The project guideline can state which point cloud highlight you should turn on.

There are several color settings available for you to select while viewing the point cloud. Find the options and read more about the various settings on the Point cloud color modes page.

Choose how the points inside a 3D box are emphasized when the box is selected. Red points colors the enclosed points red, while Larger points makes them larger instead. This option appears on 3D box tasks when viewing the point cloud, and is disabled while the point cloud color mode is set to Sensors.

The 2D overlay feature enables the visualization of the 3D point cloud projection into the 2D image. Depending on the selected option, the color of the points can be according to distance, intensity or classification.

The feature's primary purpose is to enable a user to validate whether the sensor calibrations are correct. Therefore, this is not useful if you annotate, correct, or review a task.

Read about its settings on the Window page.

This setting combines point clouds from multiple frames and adds them to your current frame's point cloud. The aggregated points are visible from multiple angles, so use them to increase clarity while annotating stationary objects in the scene.

Read about its settings on the Point cloud aggregation page.

Toggles the background points around the scene. When enabled, points outside the current frame's main point cloud are shown for extra context. This option only appears when the task provides background points and you are viewing the point cloud, and is disabled until those points have loaded.

Toggele whether you want to see other objects in grid view in the The 3D view. Other objects can sometimes interefere visually with the current object, so there is an optional shortcut that can be assigned for this setting. The default is shortcut is unbound.

The line assist will provide you with assisting lines in the side cameras while working with 3D boxes. These can be used to more easily align the cuboid's rotation with various landmarks, such as the ground plane.

Drawing instructions will guide you through the drawing or editing process. You can turn them on or off whenever you want, either from the top bar or from the instruction dialogue.

Feedback is visible (enabled) when you enter a task. You can disable and hide it by clicking this menu item. This item only appears in review tasks.

Opens the Action assist panel, which gathers the assistance actions available for the current task and lets you apply them quickly. Read more on the Action assist page.