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Changelog

Platform updates, feature releases, and engineering milestones.

v1.4.0

Latest

Real-time 3D cuboid projection onto 2D camera views across supported datasets, accompanied by an interactive camera inspection view.

Cuboid projection

  • Projects 3D bounding boxes directly onto 2D perspective camera views across KITTI, nuScenes, and Waymo datasets.
  • Hardware-accelerated overlays render live cuboids over camera frames, with full-screen inspection available via the C shortcut.
  • Synchronized label loading and projection updates to eliminate flickering during sequence playback and frame scrubbing.

v1.3.2

Several rendering performance updates, extending smart buffer reuse to indirect command buffers and resolving precision loss in PCD point clouds.

Rendering performance & buffer management

  • Extends smart GPU buffer reuse to indirect command buffers, avoiding redundant allocations to eliminate stutter during pan and orbit.
  • Consolidates staging data transfers across viewport render passes into a single blit encoder pass, reducing command submission overhead.

Data precision fixes

  • Resolved an issue that caused coordinate precision loss in georeferenced and large-extent PCD point clouds, eliminating visual jitter and banding artifacts.

v1.3.1

Near-plane depth and rendering fixes, resolved cuboid retention across frames, and real-time performance statistics.

Rendering bug fixes

  • Resolved near-plane clipping discrepancies by integrating hardware clip-space [0, 1] depth correction across all orbital render passes.
  • Eliminated screen-space line distortion near cuboid edges by implementing analytical near-plane clipping in the edge vertex shader.
  • Prevented octree bounding box corruption by filtering non-finite (NaN/Inf) coordinates during spatial indexing.

Cuboid lifecycle fixes

  • Fixed an issue where cuboids from a previous frame could remain stuck on screen when navigating to other frames or switching projects.

Performance statistics

  • The performance statistics panel is now more responsive, enabling real-time tracking of FPS and frame time.

v1.3.0

Major rendering performance upgrades with smart GPU buffer reuse, optimized culling, and stationary viewport caching.

Smart GPU buffer & indirect draw batching

  • Dynamically manages and reuses GPU buffers to avoid allocating memory every frame.
  • Batches octree draw commands into contiguous buffers, reducing draw calls by 70%.

Octree & frustum culling

  • Optimizes projection math within screen-space error (SSE) calculations.
  • Optimizes view frustum testing, lowering CPU culling overhead by 80%.

Stationary viewport caching

  • Eliminates redundant render calculations while the viewport is stationary.

v1.2.0

Direction-aware camera synchronization aligned with the viewport, and accelerated sequence streaming with zero I/O overhead.

Direction-aware camera synchronization

  • Aligns camera channels with the viewport, automatically displaying the correct image corresponding to the angle you are looking at.
  • Delivers significantly higher accuracy across both single frame and merged SLAM scenes, providing an uninterrupted inspection flow without manual camera toggling.

Sequence streaming

  • Frame navigation now operates with significantly higher stability.
  • Resolves I/O bottlenecks on camera images through indexing and caching to prevent stutter during sequence streaming.

v1.1.0

Refined orthographic inspection, unified sensor calibration catalog, expanded 6DoF gizmo controls, and refreshed interface styling.

Orthographic inspection

  • Orthographic viewports isolate the selected cuboid with tighter bounds, filtering out background walls, trees, and adjacent objects in dense scenes.
  • The Top view automatically filters out ground points to provide a cleaner, unobstructed view of vehicle contours.
  • Adjusted orthographic camera framing and distances across all panels to provide a more balanced, detailed view of the target object.
  • Front and Side panels follow the vehicle face currently oriented toward your 3D camera as you orbit the scene.

Unified sensor calibration

  • Unified sensor calibration across KITTI, nuScenes, and Waymo into a standardized rigid transform catalog.
  • Preserves full camera intrinsics, distortion coefficients, and 6DoF sensor extrinsics across LiDAR, camera, and IMU coordinate frames.

Gizmo controls

  • Expanded Move and Scale tools with 6 bidirectional handles and depth-aware hitboxes for precise interaction.
  • The Move tool now supports both World and Local coordinate modes, allowing users to toggle between global axes and the vehicle's local axes via Shift+G or the View menu.
  • Resolved rotation dragging issues and gimbal lock artifacts, ensuring smooth and predictable angle adjustments.

Camera inspection

  • Camera thumbnails and the expanded inspection panel (C key) now render images at native resolution without downsampling.

Reliable auto-fit

  • Optimized the auto-fit algorithm (A key) to prevent bounding box spillover into nearby objects in dense scenes.

Refreshed interface

  • Updated all interface icons with a unified modern set and re-balanced icon scaling across toolbars and menus.

v1.0.0

Pre-Alpha

Initial pre-alpha release introducing the native desktop 3D LiDAR annotation and visualization platform.