Reference / Camera Images Viewport

At the bottom of the point cloud is a collapsible panel for reference images. These images are captured from the camera sensors installed on the ego vehicle and allows users to identify the objects expected to be labeled in the point cloud or image sensor.

The reference images are placed in a viewport that extends thereby making the objects in the image much easier to identify.

The cuboids created in the point cloud are simultaneously projected onto the images, providing the annotator with a much clearer understanding of the object.

This feature offers multiple aids:

Indication of camera direction

On hovering the cursor over the thumbnails, a red frustum/cone appears on the pointcloud indicating the point of view of the camera sensor.

Image Toggle & Visibility Control

• On right-clicking on a thumbnail, you get the option to annotate that image. The user can also double-click the image to move to Annotate Image mode

• The 3D cuboid is rendered on the image so the annotator has reference to where the annotation was projected on the image

Image visibility controls:

• Brightness - User can change the brightness settings of the images

• Contrast - User can update the contrast o identify objects hidden in the darker regions of the image

Point Projection

Hover the mouse cursor on points in the pointcloud, this action simultaneously highlights the respective reference image along with the exact coordinates in 2D that the cursor is hovering upon. This feature is indicated by a red dot on the images.