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We recommend enabling hardware acceleration in Chrome when working with PCD Scenes.

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Label & Review PCD

We strongly recommend that Taskers use a mouse when annotating or reviewing Scenes. Using a mouse makes annotating or reviewing Scenes significantly easier.
  1. Click Start task or Initiate to annotate a PCD data unit. The Label Editor opens with a PCD data unit ready for annotation.
  2. Use the Editor controls and Toolbar buttons to navigate the PCD workspace.
  3. Use the General Settings to customize and streamline the PCD workspace.
  4. Select an object label from the left-hand menu and begin annotating the PCD data unit.
  5. Use your input device (mouse or trackpad) to create a label in the PCD workspace.
  6. Select the label and adjust the label from the right-hand space and from the Toolbar.
  • Copy labels from one frame to another using Command + C and Command + V.
  • Copy labels from within the same frame using Command + C and Command + Shift + V.

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Toolbar

Hot key: Shift + CBrings the POV to origin.
Hot key: ALT/OPTION + TBrings the POV to the ā€œtilesā€ listed in the drop-down that appears.
Hot key: Shift + up arrowZooms into the workspace.
Hot key: Shift + down arrowZooms out of the workspace.
Specifies the ā€œground heightā€ in the workspace. You can specify any value between the highest and lowest points, of the PCD, on the X axis.
Hot key: Option + RRadius indicators are useful guides when annotating in 3D space. For example, you might only want to annotate anything that comes within 3 meters of your object (vehicle, robot, drone). You would then use a radius of three and only annotate anything within that radius.
  • ON: Displays one or more radii centered on the object (vehicle, robot, drone) that captured PCD. You can select the color used for all radii.
  • OFF: Hides all the radii.
Specify custom or use ā€œtileā€ coordinates as the Scene origin.
Use this feature together with Center content.
  • ON: All points in the PCD workspace (on all axis) are averaged. Using Center content brings the POV to the center of all axis in the workspace.
  • OFF: Using Center content brings to POV to the object that captured the PCD.
Hot key: ALT/OPTION + M
  • ON: Displays all PCD from all frames in the workspace at once.
  • OFF: Displays the PCD for that specific frame.
Hot key: ALT/OPTION + IDisplays point cloud data in 2D images.
Hot key: CONTROL + ALT/OPTION+ CSpecify the camera target on a single point in the PCD data.
Use this feature with Center camera on orign.
Display or hide various elements in the PCD space.
  • Show top view: Displays view from the top in the right hand work area.
  • Show left view: Displays view from the left in the right hand work area.
  • Show right view: Displays view from the right in the right hand work area.
  • Show control hints: Displays workspace navigation hints.
  • Show camera switcher: Displays video views for the Scene.
  • Show zoom indicator: Displays

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Editor Actions

Click into the PCD workspace to use the following editor actions. The keyboard hints display when you can navigate the workspace.
Use the WASD keys to move along the X axis in the workspace.
Use the QE keys to move along the Y axis in the workspace.
Hold down the scroll wheel and move your mouse to rotate in the workspace.
Hold down the right mouse button and move your mouse to pan around the workspace.
The Scene slicer is a planar point cloud data selection guard. Place a Scene slicer to confine point cloud data selection. Point cloud data on the outside of the Scene slicer area cannot be selected for annotation.Use the left-click button on your mouse to select an area in the PCD workspace. Use the Alt/Option key to hide all point data outside the selected area.
You can change the ā€œfront faceā€ of a cuboid by hovering over any side of the cuboid, clicking ALT/OPTION, and then left-clicking.

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Editor Settings - Scene

Input DeviceSpecify using a mouse or trackpad to rotate or pan in the workspace.
We STRONGLY recommend using a mouse to rotate or pan in the workspace.
Pre-load dataPre-load data in the background for smoother navigation. Enabling this setting can improve performance when annotating or reviewing point cloud data.
FaceShows/Hides the ā€œfaceā€ of cuboids in the PCD workspace.OrientationShows/Hides the orientation of cuboids in the PCD workspace.
GroundShows/Hides the ā€œgroundā€ plane as a grid in the PCD workspace.AxisShows/Hides the axis of the point of origin in the PCD workspace.CamerasShows/Hides camera helper lines to aid in annotating PCD.BackgroundShows/Hides the background in the PCD workspace.
Color settingsYou can change the color of point cloud data in the PCD workspace. Here are the options:
  • Solid: Displays points with a single uniform color.
  • Origin: Displays points in colors based on the distance from the world origin point.
  • Camera: Displays points in colors based on the distance from the camera position.
  • Height: Displays points in colors based on the distance from the ā€œgroundā€ plane.
    You can adjust the ā€œgroundā€ plane using the ground height feature on the Editor toolbar.
  • Provided: Displays points in colors based on how they were originally captured and recorded.
  • Image: Displays points in colors by projecting camera image data onto the points.
PCD display settingsYou can change the display settings of point cloud data in the PCD workspace. Here are the options:
  • Show: Displays point cloud data in the PCD workspace.
  • Merge: Displays all point cloud data across time in the PCD workspace.
  • Uniform size: Displays all point cloud data in a uniform size in the PCD workspace.
  • Hide segmented: Hides all point cloud data that is behind segmented objects in the PCD workspace.
    Only segmented objects that are set to be hidden hide all point cloud data behind them.
Specify the size of cloud data points in the PCD workspace.
Specifies the opacity of PCD in 2D views.
The default value is 0. PCD does not display in 2D views with a value of 0.
Specifies the opacity of data points that fade into the background. For example, all data points outside of a Scene slice.