LIDAR ANNOTATION INSTRUCTION

LIDAR ANNOTATION ENVIRONMENT:

• Make sure you are using Google Chrome to see the number on the top-right corner , it must be around 20 fps LABELING -

• Make sure every point of an object are included in the frame

• Use a 3D view to examine the objects after you make a frame

• Avoid including points of the ground when doing a frame

• Estimate the object when it has not enough point on the object

• For general compact cars ratio must be 5:2 (Length:Width)

• Leave the interspace as small as possible when including human being on a frame

• Triangular cone fence,barrier and object of the ground need to be label as temporary obstacle

• All moving cars need to be oriented on the exact same direction

• Do not include points that suspends in the air in the center of the lidar frame. It often turns out that it is a part of the car.

• Shared bicycles point of the roadside need to be label separately -Others that can move are labeled as others with track id , such as animals and trolley

TRACKING

• Put the same tracking ID number on the same object

• Track ID of the cars that does not move can be label as 0

• Object that is stationary valued as 0

• Other object that is moving must have their own id including passerby, cyclist etc.

• If we lose some frames when tracking a car and cannot make sure whether the car remains to be the previous one,must have assign a new track ID

• Dont put same tracking on the different object

STEP BY STEP STEP

STEP 1

Use your mouse to make a box

• Left click 
• Release
•  Click to the end of the length of the car cloud point.
•  Release
•  Click to the end of the width of the car cloud point.

STEP 2

•  Put the right category on the box you made.

STEP 3

• Edit the height of the box you made >Labeling Height open control , click the label ,check the label height

 STEP 4

• Put a tracking ID number.

 STEP 5

 Copy the box you made then move the next frame and paste it on the same object.

KEYBOARD SHORCUT KEY

 Selecting Category
Z-Other
Q-Pedestrian
F-Cyclist(Bike and Motorcycles)
E-Three wheel Car
R-Car(Sedan, SUV , Trucks)
X-Stationary Obstacle ( Cones, Barrier Etc.

Moving to the next frame

 N-Next frame
 B-Previous frame

Hide/Show Image view

Space Bar-for the bottom part
Tab - for the left

Copy paste tool 

Ctrl+C - move to the next frame put on the same object.
Esc - to end the current operation.

 Rotate a box <,>