# LiDAR Annotation Tool

LiDAR Annotation Tool Overview

The main screen of the LiDAR annotation tool consists of the following components

<figure><img src="https://2222059734-files.gitbook.io/~/files/v0/b/gitbook-x-prod.appspot.com/o/spaces%2FgZbaVXXtfTXMMcqdnKWV%2Fuploads%2FkpKNtLCdmercxxYYuUZg%2Fpc-interface.png?alt=media&#x26;token=42d9e35e-0d94-48b9-b98d-b99214072715" alt=""><figcaption><p>LiDAR Annotation Tool Interface</p></figcaption></figure>

<table data-view="cards"><thead><tr><th></th><th></th><th></th></tr></thead><tbody><tr><td></td><td><p><strong>Tools</strong></p><ul><li><strong>Create Box</strong>: Create a new cuboid on 3D canvas;</li><li><strong>Translate</strong>: On/Off switch Move the cuboid when it is on; Support moving to a certain axis of X/Y/Z;</li><li><strong>Run Model</strong>: Run the model to predict results</li></ul></td><td></td></tr><tr><td></td><td><p><strong>RGB Camera Data</strong></p><ul><li>To project b-box/2d cuboid on 2d image;</li><li>If it is not a 2D &#x26; 3D Fusion dataset, 2d images are used for reference, helping to identify objects that are not clear in 3D.</li></ul></td><td></td></tr><tr><td></td><td><p><strong>Point Cloud Data</strong></p><ul><li>Annotate objects according the data annotation guideline;</li><li>AI-assisted tool can precisely make the cuboid fit on the object automatically</li></ul></td><td></td></tr><tr><td><p><strong>Settings</strong></p><ul><li>There are many settings that can help annotators better identify objects. </li></ul><p>For example, by displaying the intensity value of points, changing the size of points, etc.</p></td><td></td><td></td></tr><tr><td><strong>3-Views Area</strong></td><td><ul><li>When a cuboid is created on the 3D point cloud data area, minor adjustments are usually made here to make the cuboid fit as closely as possible to the target object.</li></ul></td><td></td></tr><tr><td><strong>Results</strong></td><td><ul><li>All annotation results are displayed here, including Validity, Classification and Class results.</li></ul></td><td></td></tr><tr><td><p><strong>Data Info</strong></p><p>Display data information, including coordinate values and the total number of points.</p></td><td></td><td></td></tr></tbody></table>

## Start to Annotate

Click **Create** (or hit F on the keyboard) on the upper right corner, click 3 time to draw the outline of the object, then a cuboid that fits the object will be generated by the AI-assisted tool.

<figure><img src="https://2222059734-files.gitbook.io/~/files/v0/b/gitbook-x-prod.appspot.com/o/spaces%2FgZbaVXXtfTXMMcqdnKWV%2Fuploads%2FkAJxXo175av89z9DxYRi%2F3d.gif?alt=media&#x26;token=8766d6db-7056-4dd6-a94b-6bc2307b669b" alt=""><figcaption><p>AI-assisted 3D Cuboid Tool</p></figcaption></figure>

## Adjust

In most cases, slightly adjust the cuboid in three different views: overhead, side and rear views.

Hit **C** on the keyboard to change the cuboid facing direction.

<figure><img src="https://2222059734-files.gitbook.io/~/files/v0/b/gitbook-x-prod.appspot.com/o/spaces%2FgZbaVXXtfTXMMcqdnKWV%2Fuploads%2FAsH2saydILoUzYYxAkyj%2Fadjust.gif?alt=media&#x26;token=b3f6e6f9-5c76-4b14-b901-d809784b3b1e" alt=""><figcaption><p>Adjust 3D Cuboid in 3 Views Area </p></figcaption></figure>

{% hint style="success" %}
It is recommended to use shortcut keys to adjust the position.
{% endhint %}

<table><thead><tr><th width="166.33333333333331" align="center">Shortcut Key</th><th width="220" align="center">Check in 3 Views</th><th align="center">Function </th></tr></thead><tbody><tr><td align="center"><strong>Z X</strong></td><td align="center">Check in Overhead view</td><td align="center">Rotate Clockwise / Counterclockwise</td></tr><tr><td align="center"> <strong>A W S D</strong></td><td align="center">Check in Side view</td><td align="center">Move to Left / Up/ Down/ Right </td></tr><tr><td align="center"><strong>Q E</strong></td><td align="center">Check in Rear view</td><td align="center">Move to Left / Right</td></tr></tbody></table>

Note: Using shortcuts do not reset the scale of three views.

## Projection & Re-projection

If you're working on a 2D & 3D fusion dataset, Projection and Re-projection button can project a bounding box or cuboid to the RGB images from point cloud data.

You can adjust the bounding box and cuboid in RGB images, click Re-Projection to reset the result.&#x20;

<figure><img src="https://2222059734-files.gitbook.io/~/files/v0/b/gitbook-x-prod.appspot.com/o/spaces%2FgZbaVXXtfTXMMcqdnKWV%2Fuploads%2F3xnLKLv7cH8WhYvYPrYC%2Fproject.png?alt=media&#x26;token=1fc7819f-bd76-42fc-b89d-c814936b348e" alt=""><figcaption><p>Project 3D Results to the RGB Image</p></figcaption></figure>

## AI Model Pre-annotation

Xtreme1 platform has preset models for ADAS scenarios -- only by clicking one button to auto-generate results. Yon can also integrate other models into the Xtreme1 platform. See Model Page.

Click **Run Model** button to apply a model to auto-annotate objects in 3D point cloud data. Click the button again to load results after recognition.

<figure><img src="https://2222059734-files.gitbook.io/~/files/v0/b/gitbook-x-prod.appspot.com/o/spaces%2FgZbaVXXtfTXMMcqdnKWV%2Fuploads%2FBZ19jV6l7F3XNp1aFEnF%2F3dmodel.gif?alt=media&#x26;token=301abc16-931d-4a6d-aea0-1bb48342b3bc" alt=""><figcaption><p>3D Object Detection Model Tool</p></figcaption></figure>

Running model predicts all targets in point cloud data by default, you can choose preferred classes and confidence value in AI Annotation Setting.

<figure><img src="https://2222059734-files.gitbook.io/~/files/v0/b/gitbook-x-prod.appspot.com/o/spaces%2FgZbaVXXtfTXMMcqdnKWV%2Fuploads%2FTgAqyQMUymvXDKVi4yF7%2Faiset.png?alt=media&#x26;token=1255d15a-06dd-4ade-bdc3-bbe5dd9a9067" alt=""><figcaption><p>Pre-annotation Model Setting</p></figcaption></figure>

## Data Info

Click **Info** button on the lower left corner to show Coordinates, Points of selected scene results.

## Display Setting

Click **Setting** below data info to customize display effects of Image, Point cloud and Result etc.

1. Image: Tick checkboxes to show Cuboids, 3D Cuboids, Projected Cuboids and Projected Points
2. Point Cloud: Points - Point size in 3D point cloud; Color Height / Intensity - Slide or input value to modify point cloud render color; Click **Reset** to reset to default value;
3. Objects：Switch to show tags on results;
4. Utility：Switch to show distance measure and its radius in meter.

## Shortcuts List

|         Key        |                 Description                |
| :----------------: | :----------------------------------------: |
|     **Actions**    |                Shortcut key                |
|          F         |                Create Object               |
|     Ctrl/⌘ + C     |                 Copy Object                |
|     Ctrl/⌘ + V     |                Paste Object                |
|    Ctrl/⌘ + Drag   |             Copy by Drag Object            |
|         Del        |                Delete Object               |
|     Ctrl/⌘ + Z     |                    Undo                    |
| Ctrl/⌘ + Shift + Z |                    Redo                    |
|          U         |            Turn on/off Auto Fit            |
|   **Edit Cuboid**  |                Shortcut key                |
|         W/S        |             Move Cuboid Up/Down            |
|         A/D        |        Move Cuboid Backward/Forward        |
|         Q/E        |           Move Cuboid Left/Right           |
|         Z/X        | Rotate Cuboid Clockwise / Counterclockwise |
|          T         |    Show/Hide Classes and Attributes Pad    |
|          M         |               Show/Hide Label              |
|          C         |            Change Head Direction           |
|          V         |                  Filp Head                 |
|     **Display**    |                Shortcut key                |
|          G         |          Show/Hide Coordinate Axis         |
|          B         |       Filter Other Object in 2D View       |
|          N         |         Show/Hide Distance Measure         |
|          R         |           Open/Close Review Panel          |

### Tutorials&#x20;

{% embed url="<https://www.youtube.com/watch?t=50s&v=4jo2FFVGJi0>" %}
Xtreme1 Tutorial Series Episode 2: Annotation of 2D & 3D Fusion Data
{% endembed %}