--- title: View slug: task-view-guide/view docTags: createdAt: 2023-08-09T07:43:36.390Z --- Depending on the task and view, this menu tab will vary in items. ## Pixelated By default, image and frame pixels blend. When **pixelated** is activated, you can see each pixel separately when you zoom in, which can be helpful in tasks where edges are essential. ## Inversion When the inversion setting is activated, each pixel's color is changed to its opposite hue in the color spectrum. ## Histogram equalization This feature will provide better detail in over- or under-exposed pictures and pictures with poor contrast. ## 3D camera mode The 3D camera can behave in three different ways (in the main view): - **Follow ego vehicle (default):** This setting will follow the ego vehicle as it moves through the sequence. - **Follow selected object:** This setting follows the selected object as it moves through the sequence. When you enable it, we lock the point of view, meaning the camera distance and position remain the same when you follow the object. - **Static camera:** This setting will keep the camera still while the scene (point cloud) moves. 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. ## Birdseye view camera mode You can toggle between showing the top-view side camera while in birdseye view or not. Read more on the [Object cameras](docId\:Wq00nqTw-hvAvjskFarnn) page. ## 3D camera controls You can toggle between the two camera controls in the 3D view. Read more on the [Lidar camera controls](docId\:T2jiuWRHjZxWeMiMm4MUv) page. ## 3D camera projection You can choose between two different modes for the main 3D camera. The default and recommended option is **Perspective**. - **Perspective **- This projection mode is designed to mimic the way the human eye sees. It is the most common projection mode used for rendering a 3D scene. - **Orthographic **- In this projection mode, an object's size in the rendered image stays constant regardless of its distance from the camera ## Grid The default setting is **no grid**. The app supports two grids: **Cartesian** and **Polar**. Read a detailed explanation of each grid on the [Grids](docId\:GM9-KjhlkgY1hZtBO9229) page. ## Object camera ruler Toggles [Object cameras](docId\:Wq00nqTw-hvAvjskFarnn). ## Projections A projection is a shape created in one source and visualized in another. This section is available in tasks containing 3D objects. Curious how to use them? Read more on the [Projections](docId\:HnGmpFPjhTMaCdfUwwe8M) page. ## Ego trajectory 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 [Ego vehicle trajectory](docId\:WMCnFkyJG0xYtIlGZnmc5) page. ## Line assist 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. ## 3D node mode 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. - **Selected **- only the selected line's nodes are shown (default). - **End nodes **- the first and last node of every other line are shown, in addition to the selected line. - **All nodes **- every node of every line in the scene is shown. ## Show node indices 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. ## Show node ground alignment 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. - Green on the ground (within 10 cm). - Orange - slightly off (within 25 cm). - Red - more than 25 cm off the ground. - **White **- ground couldn't be determined at that location. ## Show object link area 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 [Show all object links](docId\:zicM7AvHQ1eaF_HKrqLFp) 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 [Geometry settings](docId\:nKKzt8vb6feW2Mw7M0I5t). ::Image[]{src="https://api.archbee.com/api/optimize/wLEz_RbWP6nIMpY-prjlm/cRsbImu06IGd04WDagnj-_shapelinks-highlight-area.png" size="50" isUploading="false" position="center" caption="Shape links highlight areas" width="986" height="1156" darkWidth="986" darkHeight="1156" showCaption="true"} ## Predictions Toggle visibility of predictions and prelabels. Read about its settings on the [Window](docId\:fwdytg7-C-JXh1JMQNIqO) page. ## Point cloud highlight The project guideline can state which point cloud highlight you should turn on. - **Field of view:** This option will highlight the 2D camera's field of view in the point cloud. - **Full view:** This option will highlight all the points regardless of which 2D camera is selected. ## Point cloud colors 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](docId\:raL903vF5_H_D4nLmR6SC) page. ## Box points highlight Choose how the points inside a 3D box are emphasized when the box is selected. **Red points** colors the enclosed points red, while **Point size** 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 **Sensor**. ## Classification color mode Choose how classified points are colored in the point cloud. **Class color** colors each point by its class, while **Unique instance colors** gives each instance its own color so you can tell neighbouring instances apart. This option appears on 3D point classification tasks when viewing the point cloud. ## Point cloud aggregation 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](docId\:bcoYTPTDI72b6fMuqvntX) page. ## Point cloud background points 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. ## Point cloud point filter **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. ## Point cloud overlay The point cloud overlay feature enables the visualization of the 3D point cloud projection into the 2D image. Depending on the selected option in the View menu, 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](docId\:fwdytg7-C-JXh1JMQNIqO) page. ## Feedback Feedback is visible (enabled) when you enter a task. You can disable and hide it by clicking this menu item.