2D Map Editor

The 2D Map Editor is a tool within the Navigation Editor that lets you directly edit GeoTIFF tile map raster images. Use it to modify navigation maps such as segmentation maps, collision maps, and drop-off maps.

Screen Layout

• Left panel: Select the tile map to edit from the layer list (click the pencil icon)
• Center area: Overlay and directly edit the raster image on an OpenLayers map
• Right panel: Editing tools, color selection, brush settings, panorama viewer

Starting and Ending Editing

Click the pencil icon () on a GeoTIFF layer in the left layer panel to start editing.

Action	Method
Start editing	Click the pencil icon on a .tif layer in the left panel
End editing	Ends automatically after Save BMP, or click Stop Edit
Switch layer	Clicking the pencil icon on another layer saves the current edits and switches to that layer

Drawing Tools

Select a tool at the top of the right panel. You can also switch tools using keyboard shortcuts.

Tool	Icon	Shortcut	Function
Pen		P	Draw freely with Bezier curves. Drag to adjust curvature
Polygon		O	Click to place polygon vertices, then fill the area
Circle		C	Stamp a circle at the clicked location
Move		Space	Map pan mode (no drawing)

Pen Tool (Bezier)

• Click on the map to add points
• Drag to adjust Bezier handles and create curves
• Right-click to finish drawing
• Esc to cancel
• Adjust line thickness with the Stroke Width slider (1–100px)

Polygon Tool

• Click on the map to add vertices in order
• Right-click to close the polygon and fill its interior
• Esc to cancel

Circle Tool

• Click on the map to stamp a circle at that location
• Adjust size with the Circle Size slider (2–200px)
• Quick presets:

Preset	Size	Purpose
Bollard	5px	Bollard-sized obstacle
Lamp	10px	Street-lamp-sized obstacle
Post	20px	Post-sized obstacle
Large	50px	Large obstacle

Color Selection

Default Color Presets

Color	RGB
White	(255, 255, 255)
Black	(0, 0, 0)
Red	(255, 0, 0)
Green	(0, 255, 0)
Blue	(0, 0, 255)

You can also pick any color using the custom color picker next to the presets.

Segmentation Label Colors

Expanding the Segmentation Labels toggle lets you directly pick colors for each segmentation class:

Label	Color	Purpose
runway	Green	Drivable path
curb	Purple	Curb
road	Red	Roadway
cross-walk	Light green	Crosswalk
braille-block	Yellow	Braille block
cement	Cyan	Cement
building	Olive	Building
vegetation	Green	Vegetation
docking-station	Blue	Docking station
no-information	Black	No information

A total of 26 segmentation classes are defined.

Undo / Redo

Action	Shortcut	Description
Undo	Ctrl + Z	Undo the last drawing action
Redo	Ctrl + Shift + Z	Reapply the action that was undone

Export (Save BMP)

After editing, click the Save BMP button to:

1. Convert the current canvas to BMP format
2. Save it to the dataset path on the server
3. Automatically exit editing mode

Note

Save BMP is enabled only after a dataset has been opened. The button is disabled when no dataset path is set.

Typical Workflow

1. [Open Dataset] → Load tile map data from server/local storage
2. Click the pencil icon on the .tif layer in the left panel → Enter editing mode
3. Select a tool in the right panel (Pen/Polygon/Circle)
4. Select a color (preset, custom, or segmentation label)
5. Draw directly on the map
   - Click a trajectory point → Verify the scene in the panorama while editing
6. Use Undo (Ctrl+Z) if you make a mistake
7. [Save BMP] → Save as a BMP file and exit editing