> For the complete documentation index, see [llms.txt](https://docs.mindkosh.com/llms.txt). Markdown versions of documentation pages are available by appending `.md` to page URLs; this page is available as [Markdown](https://docs.mindkosh.com/3d-pointcloud-annotation/settings.md).

# Settings

You can access the settings section by clicking on the gears icon on the bottom left of the annotation page. Once you've made the required change, make sure to click on the *Apply* button to save the settings.

### General Settings

**Show ortho views**

Ortho views help you label cuboids by showing isolated views from top, front and side. When performing annotation for segmentation, these views do not offer any insight - so it may make sense to turn the ortho views off so you have more screen space to label point clouds.

**Color objects by instance**

By default, objects are colored by their class label's colors. When *Color* *by Instance* is checked however, all annotation objects are assigned a unique color regardless of their class label. 

This can be particularly helpful when labeling tracks, to identify an object across different frames, since each unique track object will have the same color across all frames.

### Coloring point clouds

<figure><img src="/files/oAxsygVwDQdg9UqSJLnv" alt=""><figcaption></figcaption></figure>

You can add colors to your point cloud based on:

1. Intensity values - Only applicable if the point cloud has intensity values.
2. Height - Points at the same height are colored with the same color.&#x20;
3. Reference camera Images - If you have reference camera images and their calibrations parameters are properly set, you can color the point cloud with colors from the images. This can be incredibly helpful to identify objects in a point cloud.
4. RGB values - If the point cloud natively has colors for each point, you can choose this.

<figure><img src="/files/goo8xe1xmLIUsbPvKdl2" alt=""><figcaption></figcaption></figure>

*Point cloud colored with reference image*

###

### Highlighting points

Use the settings section to highlight points around the ego vehicle. Note that this only highlights the points in question. You can still label anywhere within the point cloud.

<figure><img src="/files/Q6yPdcmb8hdlt4AAmUID" alt=""><figcaption></figcaption></figure>

**Points within a certain distance**

<figure><img src="/files/OaYfpdFJwT5XmBgjQp6w" alt="" width="375"><figcaption><p>Points highlighted within 25 meters of the ego vehicle</p></figcaption></figure>

To highlight points within a certain distance from the ego vehicle, check the *Limit Distance* option, and enter the distance (in meters) from the ego vehicle you want to highlight.

**Points within a certain FOV**

<figure><img src="/files/z4mXK1iFzTDhoRG14aYT" alt="" width="375"><figcaption><p>Points highlighted in XZ plane with a 30 FOV in each axis</p></figcaption></figure>

To highlight points within certain Field of view, select one of *XZ* or *YZ*, and then enter the angles(in degrees) in each axis.

For example, if you select *XZ*, and enter 30 in both text boxes, you will highlight points that fall within an angle of 30° in the X axis and 30° in the Z axis on the *XZ* plane.

**Points within the current camera FOV**

You can also highlight points that fall within the FOV of the currently selected reference camera.