View menu
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.
If the task contains more than one 2D camera you will see a multicamera drawer in the bottom of the left side of the screen.
In the top bar you can select if you want us to:
- Switch to best camera: When you select an object, we automatically select the 2D camera which has the best view of the object.
- Indicate best camera: When you select an object, the 2D camera will remain the same, but we will label what camera has the best view of the object.
The 3D camera can behave in three different ways (in the main view):
- Follow ego vehicle (default):Β This setting will follow the ego vehicle as it moves through the sequence.
- Follow selected object:Β 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:Β This setting will keep the camera still while the scene (point cloud) moves.Β
You can toggle between the two camera controls in the 3D view, read more under Orbit and fly controlsο»Ώ.
The default setting is no grid.
The app supports two grids: Cartesian and Polar. Read a detailed explanation of each grid under 3D gridsο»Ώ.
A projection is a shape created in one source and visualized in another. These are currently available in tasks that include 2D and 3D boxes.
Curious how to use them? Read more under Projectionsο»Ώ.
A trajectory will show how the ego vehicle or 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.
- Selected 3D Box: This will show how the selected object moves across the sequence.
- Ego vehicle: This will show how the ego vehicle moves across the sequence.
Read about its settings under the Ego trajectoryο»Ώ page.
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 cuboids rotation with various landmarks, such as the ground plane.
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 what 2D camera is selected.
There are a number of color settings that you can select while viewing the point cloud.
- Depth - rainbow road, a repeating rainbow gradient showing the depth from the origin of each point.
- Height - rainbow road, a repeating rainbow gradient showing the height of each point
- Height - gradient, a gradient going from blue to red showing the height of each point
- Intensity, grayscale colormap showing the intensity of each point.
- Intensity gradient, a colorful colormap showing the intensity of each point.
- Sensor coloring (only available in tasks with multiple 3D sensors)
- Image colors, projects the colors of the camera image(s) into the point cloud
Read more about the various settings under the Point cloud color modesο»Ώ page.
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.Β 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 rainbowΒ
- Gradient: A gradient going from blue to red based on the height.
Read about its settings under the Window menuο»Ώ page.
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 menuο»Ώ page.
In this mode the color is determined by how much the environment reflects light. A very reflective surface will create a white point, and a semi-reflective will make a grey point. This mode is beneficial when annotating roads, as the white lane markings reflect light very well.Β
Both intensity modes allows you to change the brightness, contrast, Gamma, and range of the intensity. Curious to know more? Go to Intensity mode settingsο»Ώ.
This setting will combine point clouds from multiple frames and add them to your current frame's point cloud. Use it to increase clarity while annotating stationary objects in the scene, as the aggregated points are visible from multiple angles.
Read about its settings under the Window menuο»Ώ page.
The point cloud overlay feature enables the visualization of the 3D point cloud projection into the 2D image. The color of the points can be according to distance, height, or intensity, depending on the selected option in the View menu.
The feature's primary purpose is to enable a user to validate whether the sensor calibrations are correct. Therefore,Β this is not usefulΒ if you annotate, correct, or review a task.
Read about its settings under the Window menuο»Ώ page.
Feedback is visible (enabled) when you enter a task. If you want to disable and hide it, you can do so by clicking this menu item.
