diff --git a/anylabeling/utils.py b/anylabeling/utils.py
index ca14ba0..1e34db7 100644
--- a/anylabeling/utils.py
+++ b/anylabeling/utils.py
@@ -1,5 +1,16 @@
+import os
+
 from PyQt6.QtCore import QObject, pyqtSignal, pyqtSlot
 
+MESH_EXTENSIONS = [".obj", ".stl", ".ply"]
+
+
+def is_mesh_file(filename):
+    """Check if the filename is a mesh file"""
+    if not filename:
+        return False
+    return os.path.splitext(filename)[1].lower() in MESH_EXTENSIONS
+
 
 class GenericWorker(QObject):
     finished = pyqtSignal()
diff --git a/anylabeling/views/labeling/label_file.py b/anylabeling/views/labeling/label_file.py
index ec82c4d..a66c9e5 100644
--- a/anylabeling/views/labeling/label_file.py
+++ b/anylabeling/views/labeling/label_file.py
@@ -6,6 +6,8 @@
 
 import PIL.Image
 
+from anylabeling.utils import is_mesh_file
+
 from ...app_info import __version__
 from . import utils
 from .logger import logger
@@ -31,12 +33,17 @@ def __init__(self, filename=None):
         self.shapes = []
         self.image_path = None
         self.image_data = None
+        self.flags = {}
+        self.other_data = {}
         if filename is not None:
             self.load(filename)
         self.filename = filename
 
     @staticmethod
     def load_image_file(filename):
+        if is_mesh_file(filename):
+            return None
+
         try:
             image_pil = PIL.Image.open(filename)
         except OSError:
@@ -74,6 +81,7 @@ def load(self, filename):
             "group_id",
             "shape_type",
             "flags",
+            "vertex_indices",
         ]
         try:
             with io_open(filename, "r") as f:
@@ -82,30 +90,36 @@ def load(self, filename):
             if version is None:
                 logger.warning("Loading JSON file (%s) of unknown version", filename)
 
-            if data["imageData"] is not None:
+            image_path = data.get("imagePath", "")
+            if is_mesh_file(image_path):
+                image_data = None
+            elif data.get("imageData") is not None:
                 image_data = base64.b64decode(data["imageData"])
-            else:
+            elif image_path:
                 # relative path from label file to relative path from cwd
-                image_path = osp.join(osp.dirname(filename), data["imagePath"])
-                image_data = self.load_image_file(image_path)
+                abs_image_path = osp.join(osp.dirname(filename), image_path)
+                image_data = self.load_image_file(abs_image_path)
+            else:
+                image_data = None
             flags = data.get("flags") or {}
-            image_path = data["imagePath"]
-            self._check_image_height_and_width(
-                base64.b64encode(image_data).decode("utf-8"),
-                data.get("imageHeight"),
-                data.get("imageWidth"),
-            )
+            if image_data:
+                self._check_image_height_and_width(
+                    base64.b64encode(image_data).decode("utf-8"),
+                    data.get("imageHeight"),
+                    data.get("imageWidth"),
+                )
             shapes = [
                 {
-                    "label": s["label"],
+                    "label": s.get("label", ""),
                     "text": s.get("text", ""),
-                    "points": s["points"],
+                    "points": s.get("points", []),
                     "shape_type": s.get("shape_type", "polygon"),
+                    "vertex_indices": s.get("vertex_indices", []),
                     "flags": s.get("flags", {}),
                     "group_id": s.get("group_id"),
                     "other_data": {k: v for k, v in s.items() if k not in shape_keys},
                 }
-                for s in data["shapes"]
+                for s in data.get("shapes", [])
             ]
         except Exception as e:  # noqa
             raise LabelFileError(e) from e
diff --git a/anylabeling/views/labeling/label_widget.py b/anylabeling/views/labeling/label_widget.py
index 6816dcf..64d09ea 100644
--- a/anylabeling/views/labeling/label_widget.py
+++ b/anylabeling/views/labeling/label_widget.py
@@ -1,5 +1,6 @@
 import functools
 import html
+import json
 import math
 import os
 import os.path as osp
@@ -23,6 +24,7 @@
 from anylabeling.config import get_config, save_config
 from anylabeling.services.auto_labeling.types import AutoLabelingMode
 from anylabeling.styles import AppTheme
+from anylabeling.utils import MESH_EXTENSIONS, is_mesh_file
 from anylabeling.views.labeling import utils
 from anylabeling.views.labeling.label_file import LabelFile, LabelFileError
 from anylabeling.views.labeling.logger import logger
@@ -31,12 +33,14 @@
     AutoLabelingWidget,
     BrightnessContrastDialog,
     Canvas,
+    Canvas3D,
     FileDialogPreview,
     LabelDialog,
     LabelListWidget,
     LabelListWidgetItem,
     ToolBar,
     UniqueLabelQListWidget,
+    ViewControls3D,
     ZoomWidget,
 )
 
@@ -233,10 +237,23 @@ def __init__(
                 self.unique_label_list.addItem(item)
                 rgb = self._get_rgb_by_label(label)
                 self.unique_label_list.set_item_label(item, label, rgb)
+        self.unique_label_list.itemSelectionChanged.connect(
+            self._update_3d_active_label
+        )
+        # Container with Add Label button + label list
+        label_dock_widget = QtWidgets.QWidget()
+        label_dock_layout = QVBoxLayout()
+        label_dock_layout.setContentsMargins(0, 0, 0, 0)
+        label_dock_layout.setSpacing(2)
+        self.add_label_button = QtWidgets.QPushButton(self.tr("+ Add Label"))
+        self.add_label_button.clicked.connect(self._add_label_manually)
+        label_dock_layout.addWidget(self.add_label_button)
+        label_dock_layout.addWidget(self.unique_label_list)
+        label_dock_widget.setLayout(label_dock_layout)
         self.label_dock = QtWidgets.QDockWidget(self.tr("Labels"), self.main_window)
         self.label_dock.setObjectName("Labels")
         self.label_dock.setFeatures(features)
-        self.label_dock.setWidget(self.unique_label_list)
+        self.label_dock.setWidget(label_dock_widget)
         self.label_dock.setStyleSheet(dock_title_style)
         self.main_window.addDockWidget(
             Qt.DockWidgetArea.RightDockWidgetArea, self.label_dock
@@ -274,6 +291,26 @@ def __init__(
         )
         self.canvas.zoom_request.connect(self.zoom_request)
 
+        # 3D Canvas
+        self.canvas_3d = Canvas3D(parent=self)
+        self.canvas_3d.new_shape.connect(self._on_new_shape_3d)
+        self.canvas_3d.shapes_updated.connect(self.set_dirty)
+        # self.canvas_3d.selection_changed.connect(self.shape_selection_changed)
+
+        # 3D View Controls dock
+        self.view_controls_3d = ViewControls3D(self.canvas_3d)
+        self.view_controls_3d_dock = QtWidgets.QDockWidget(
+            self.tr("3D View Controls"), self.main_window
+        )
+        self.view_controls_3d_dock.setObjectName("3DViewControls")
+        self.view_controls_3d_dock.setFeatures(features)
+        self.view_controls_3d_dock.setWidget(self.view_controls_3d)
+        self.view_controls_3d_dock.setStyleSheet(dock_title_style)
+        self.main_window.addDockWidget(
+            Qt.DockWidgetArea.RightDockWidgetArea, self.view_controls_3d_dock
+        )
+        self.view_controls_3d_dock.hide()  # Hidden until a mesh is loaded
+
         scroll_area = QtWidgets.QScrollArea()
         scroll_area.setWidget(self.canvas)
         scroll_area.setWidgetResizable(True)
@@ -288,7 +325,11 @@ def __init__(
         self.canvas.selection_changed.connect(self.shape_selection_changed)
         self.canvas.drawing_polygon.connect(self.toggle_drawing_sensitive)
 
-        self._central_widget = scroll_area
+        self.central_stack = QtWidgets.QStackedWidget()
+        self.central_stack.addWidget(scroll_area)  # Index 0: 2D
+        self.central_stack.addWidget(self.canvas_3d)  # Index 1: 3D
+
+        self._central_widget = self.central_stack
 
         # Actions
         create_action = functools.partial(utils.new_action, self)
@@ -452,6 +493,38 @@ def __init__(
             self.tr("Start drawing linestrip. Ctrl+LeftClick ends creation."),
             enabled=False,
         )
+        create_brush_3d = create_action(
+            self.tr("Brush 3D"),
+            lambda: self.toggle_draw_mode_3d(Canvas3D.BRUSH),
+            "Ctrl+B",
+            "brush",
+            self.tr("Paint on 3D mesh"),
+            enabled=False,
+        )
+        view_mode_3d = create_action(
+            self.tr("View 3D"),
+            lambda: self.toggle_draw_mode_3d(Canvas3D.VIEW),
+            "Escape",
+            "edit",
+            self.tr("Switch the 3D canvas back to view (orbit) mode"),
+            enabled=False,
+        )
+        decrease_brush_size_3d = create_action(
+            self.tr("Decrease 3D brush size"),
+            lambda: self._adjust_3d_brush_size(-1),
+            "[",
+            None,
+            self.tr("Make the 3D brush radius smaller"),
+            enabled=False,
+        )
+        increase_brush_size_3d = create_action(
+            self.tr("Increase 3D brush size"),
+            lambda: self._adjust_3d_brush_size(+1),
+            "]",
+            None,
+            self.tr("Make the 3D brush radius larger"),
+            enabled=False,
+        )
         edit_mode = create_action(
             self.tr("Edit Object"),
             self.set_edit_mode,
@@ -827,6 +900,10 @@ def __init__(
             create_line_mode=create_line_mode,
             create_point_mode=create_point_mode,
             create_line_strip_mode=create_line_strip_mode,
+            create_brush_3d=create_brush_3d,
+            view_mode_3d=view_mode_3d,
+            decrease_brush_size_3d=decrease_brush_size_3d,
+            increase_brush_size_3d=increase_brush_size_3d,
             zoom=zoom,
             zoom_in=zoom_in,
             zoom_out=zoom_out,
@@ -1039,6 +1116,7 @@ def __init__(
             self.actions.create_line_mode,
             self.actions.create_point_mode,
             self.actions.create_line_strip_mode,
+            create_brush_3d,
             edit_mode,
             delete,
             undo,
@@ -1155,7 +1233,7 @@ def __init__(
 
         central_layout.addWidget(self.label_instruction)
         central_layout.addWidget(self.auto_labeling_widget)
-        central_layout.addWidget(scroll_area)
+        central_layout.addWidget(self.central_stack)
 
         # Set the central widget content
         center_widget = QtWidgets.QWidget()
@@ -1347,7 +1425,11 @@ def set_dirty(self):
         self.actions.undo.setEnabled(self.canvas.is_shape_restorable)
 
         if self._config["auto_save"] or self.actions.save_auto.isChecked():
-            label_file = osp.splitext(self.image_path)[0] + ".json"
+            if is_mesh_file(self.image_path):
+                label_file = osp.splitext(self.image_path)[0] + ".anylabeling.json"
+            else:
+                label_file = osp.splitext(self.image_path)[0] + ".json"
+
             if self.output_dir:
                 label_file_without_path = osp.basename(label_file)
                 label_file = osp.join(self.output_dir, label_file_without_path)
@@ -1510,6 +1592,121 @@ def toggle_draw_mode(
         self.actions.edit_mode.setEnabled(not edit)
         self.label_instruction.setText(self.get_labeling_instruction())
 
+    def toggle_draw_mode_3d(self, mode):
+        """Toggle 3D draw mode"""
+        self.canvas_3d.set_mode(mode)
+        self.view_controls_3d.set_mode(mode)
+        self.actions.create_brush_3d.setEnabled(mode != Canvas3D.BRUSH)
+        self.actions.view_mode_3d.setEnabled(mode != Canvas3D.VIEW)
+
+    def _adjust_3d_brush_size(self, direction):
+        """Step the 3D brush radius via shortcut. Direction: -1 smaller, +1 larger."""
+        slider = getattr(self.view_controls_3d, "brush_size_slider", None)
+        if slider is None:
+            return
+        step = 1
+        new_value = max(slider.minimum(), min(slider.maximum(), slider.value() + direction * step))
+        slider.setValue(new_value)
+
+    def _add_label_manually(self):
+        """Add a new label to the unique label list via input dialog"""
+        text, ok = QtWidgets.QInputDialog.getText(
+            self, self.tr("Add Label"), self.tr("Label name:")
+        )
+        if ok and text:
+            text = text.strip()
+            if not text:
+                return
+            if self.unique_label_list.find_items_by_label(text):
+                return  # Already exists
+            item = self.unique_label_list.create_item_from_label(text)
+            self.unique_label_list.addItem(item)
+            rgb = self._get_rgb_by_label(text)
+            self.unique_label_list.set_item_label(item, text, rgb)
+            # Select the newly added label
+            self.unique_label_list.clearSelection()
+            item.setSelected(True)
+            self._save_folder_labels()
+
+    def _get_folder_settings_path(self):
+        """Get path to .anylabeling_settings.json in the current data folder"""
+        folder = self.output_dir or self.last_open_dir
+        if folder:
+            return osp.join(folder, ".anylabeling_settings.json")
+        return None
+
+    def _save_folder_labels(self):
+        """Save the current label list to the data folder settings file"""
+        settings_path = self._get_folder_settings_path()
+        if not settings_path:
+            return
+        # Read existing settings
+        data = {}
+        if osp.exists(settings_path):
+            try:
+                with open(settings_path, encoding="utf-8") as f:
+                    data = json.load(f)
+            except Exception:
+                pass
+        # Collect labels
+        labels = []
+        for i in range(self.unique_label_list.count()):
+            label = self.unique_label_list.item(i).data(Qt.ItemDataRole.UserRole)
+            if label:
+                labels.append(label)
+        data["labels"] = labels
+        try:
+            with open(settings_path, "w", encoding="utf-8") as f:
+                json.dump(data, f, ensure_ascii=False, indent=2)
+        except Exception as e:
+            logger.warning("Failed to save folder labels: %s", e)
+
+    def _load_folder_labels(self):
+        """Load labels from the data folder settings file"""
+        settings_path = self._get_folder_settings_path()
+        if not settings_path or not osp.exists(settings_path):
+            return
+        try:
+            with open(settings_path, encoding="utf-8") as f:
+                data = json.load(f)
+            for label in data.get("labels", []):
+                if not self.unique_label_list.find_items_by_label(label):
+                    item = self.unique_label_list.create_item_from_label(label)
+                    self.unique_label_list.addItem(item)
+                    rgb = self._get_rgb_by_label(label)
+                    self.unique_label_list.set_item_label(item, label, rgb)
+        except Exception as e:
+            logger.warning("Failed to load folder labels: %s", e)
+
+    def _update_3d_active_label(self):
+        """Sync selected label from unique_label_list to canvas_3d"""
+        items = self.unique_label_list.selectedItems()
+        if items:
+            label = items[0].data(Qt.ItemDataRole.UserRole)
+            self.canvas_3d.active_label = label
+            # Sync label color to canvas_3d
+            rgb = self._get_rgb_by_label(label)
+            self.canvas_3d.set_label_color(label, rgb)
+        else:
+            self.canvas_3d.active_label = ""
+
+    def _sync_all_label_colors_3d(self):
+        """Push all known label colors to canvas_3d"""
+        for i in range(self.unique_label_list.count()):
+            label = self.unique_label_list.item(i).data(Qt.ItemDataRole.UserRole)
+            if label:
+                rgb = self._get_rgb_by_label(label)
+                self.canvas_3d.set_label_color(label, rgb)
+
+    def _on_new_shape_3d(self):
+        """Handle new shape from 3D canvas (label already set via active_label)"""
+        shape = self.canvas_3d.shapes[-1]
+        # Ensure color is synced for this label
+        rgb = self._get_rgb_by_label(shape.label)
+        self.canvas_3d.set_label_color(shape.label, rgb)
+        self.add_label(shape)
+        self.set_dirty()
+
     def set_edit_mode(self):
         # Disable auto labeling
         self.clear_auto_labeling_marks()
@@ -1752,31 +1949,37 @@ def load_shapes(self, shapes, replace=True):
         self.label_list.clearSelection()
         self._no_selection_slot = False
         self.canvas.load_shapes(shapes, replace=replace)
+        self.canvas_3d.load_shapes(shapes, replace=replace)
 
     def load_labels(self, shapes):
         s = []
         for shape in shapes:
             label = shape["label"]
             text = shape.get("text", "")
-            points = shape["points"]
-            shape_type = shape["shape_type"]
-            flags = shape["flags"]
-            group_id = shape["group_id"]
-            other_data = shape["other_data"]
-
-            if not points:
-                # skip point-empty shape
+            points = shape.get("points", [])
+            shape_type = shape.get("shape_type", "polygon")
+            flags = shape.get("flags", {})
+            group_id = shape.get("group_id")
+            other_data = shape.get("other_data", {})
+            vertex_indices = shape.get("vertex_indices", [])
+
+            if not points and not vertex_indices:
+                # skip empty shape
                 continue
 
-            shape = Shape(
+            shape_obj = Shape(
                 label=label,
                 text=text,
                 shape_type=shape_type,
                 group_id=group_id,
+                vertex_indices=vertex_indices,
             )
-            for x, y in points:
-                shape.add_point(QtCore.QPointF(x, y))
-            shape.close()
+            for point in points:
+                if isinstance(point, (list, tuple)):
+                    shape_obj.add_point(QtCore.QPointF(*point))
+                else:
+                    shape_obj.add_point(point)
+            shape_obj.close()
 
             default_flags = {}
             if self._config["label_flags"]:
@@ -1784,12 +1987,12 @@ def load_labels(self, shapes):
                     if re.match(pattern, label):
                         for key in keys:
                             default_flags[key] = False
-            shape.flags = default_flags
+            shape_obj.flags = default_flags
             if flags:
-                shape.flags.update(flags)
-            shape.other_data = other_data
+                shape_obj.flags.update(flags)
+            shape_obj.other_data = other_data
 
-            s.append(shape)
+            s.append(shape_obj)
         self.load_shapes(s)
 
     def load_flags(self, flags):
@@ -1839,7 +2042,19 @@ def format_shape(s):
             flags[key] = flag
         try:
             image_path = osp.relpath(self.image_path, osp.dirname(filename))
-            image_data = self.image_data if self._config["store_data"] else None
+            if is_mesh_file(self.image_path):
+                image_data = None
+                image_height = None
+                image_width = None
+                # Include RLE-encoded vertex label ids for mesh files
+                self.other_data["vertex_label_ids"] = utils.encode_rle(
+                    self.canvas_3d.vertex_label_ids.tolist()
+                )
+            else:
+                image_data = self.image_data if self._config["store_data"] else None
+                image_height = self.image.height()
+                image_width = self.image.width()
+
             if osp.dirname(filename) and not osp.exists(osp.dirname(filename)):
                 os.makedirs(osp.dirname(filename))
             label_file.save(
@@ -1847,8 +2062,8 @@ def format_shape(s):
                 shapes=shapes,
                 image_path=image_path,
                 image_data=image_data,
-                image_height=self.image.height(),
-                image_width=self.image.width(),
+                image_height=image_height,
+                image_width=image_width,
                 other_data=self.other_data,
                 flags=flags,
             )
@@ -2136,6 +2351,67 @@ def load_file(self, filename=None):  # noqa: C901
         if self.output_dir:
             label_file_without_path = osp.basename(label_file)
             label_file = osp.join(self.output_dir, label_file_without_path)
+
+        # Handle mesh files
+        if is_mesh_file(filename):
+            self.central_stack.setCurrentIndex(1)
+            self.view_controls_3d_dock.show()
+            self.canvas_3d.load_mesh(filename)
+            self.actions.create_brush_3d.setEnabled(True)
+            self.actions.view_mode_3d.setEnabled(True)
+            self.actions.decrease_brush_size_3d.setEnabled(True)
+            self.actions.increase_brush_size_3d.setEnabled(True)
+            self.filename = filename
+            self.image_path = filename
+            self.image_data = None
+            self.image = QtGui.QImage()  # Dummy image
+
+            # Prefer .anylabeling.json, fallback to .json
+            label_file_v2 = osp.splitext(filename)[0] + ".anylabeling.json"
+            if self.output_dir:
+                label_file_v2 = osp.join(self.output_dir, osp.basename(label_file_v2))
+
+            if QtCore.QFile.exists(label_file_v2) and LabelFile.is_label_file(
+                label_file_v2
+            ):
+                label_file = label_file_v2
+
+            # Load labels if exists
+            if QtCore.QFile.exists(label_file) and LabelFile.is_label_file(label_file):
+                try:
+                    self.label_file = LabelFile(label_file)
+                    self.other_data = self.label_file.other_data
+                    self.shape_text_edit.textChanged.disconnect()
+                    self.shape_text_edit.setPlainText(
+                        self.other_data.get("image_text", "")
+                    )
+                    self.shape_text_edit.textChanged.connect(self.shape_text_changed)
+                    self._sync_all_label_colors_3d()
+                    if "vertex_label_ids" in self.other_data:
+                        self.canvas_3d.load_vertex_label_ids(
+                            self.other_data["vertex_label_ids"]
+                        )
+                    self.load_labels(self.label_file.shapes)
+                    if self.label_file.flags is not None:
+                        flags = dict.fromkeys(self._config["flags"] or [], False)
+                        flags.update(self.label_file.flags)
+                        self.load_flags(flags)
+                except Exception as e:
+                    self.error_message(self.tr("Error opening label file"), str(e))
+            else:
+                self.label_file = None
+                self.canvas_3d.clear_shapes()
+                self.set_clean()
+            self._sync_all_label_colors_3d()
+
+            self.canvas.setEnabled(False)
+            self.actions.save.setEnabled(True)
+            self.actions.save_as.setEnabled(True)
+            return True
+        else:
+            self.central_stack.setCurrentIndex(0)
+            self.view_controls_3d_dock.hide()
+
         if QtCore.QFile.exists(label_file) and LabelFile.is_label_file(label_file):
             try:
                 self.label_file = LabelFile(label_file)
@@ -2408,8 +2684,9 @@ def open_file(self, _value=False):
             f"*.{fmt.data().decode()}"
             for fmt in QtGui.QImageReader.supportedImageFormats()
         ]
+        mesh_formats = [f"*{ext}" for ext in MESH_EXTENSIONS]
         filters = self.tr("Image & Label files (%s)") % " ".join(
-            formats + [f"*{LabelFile.suffix}"]
+            formats + mesh_formats + [f"*{LabelFile.suffix}"]
         )
         file_dialog = FileDialogPreview(self)
         file_dialog.setFileMode(FileDialogPreview.ExistingFile)
@@ -2524,7 +2801,10 @@ def get_label_file(self):
         if self.filename.lower().endswith(".json"):
             label_file = self.filename
         else:
-            label_file = osp.splitext(self.filename)[0] + ".json"
+            if is_mesh_file(self.filename):
+                label_file = osp.splitext(self.filename)[0] + ".anylabeling.json"
+            else:
+                label_file = osp.splitext(self.filename)[0] + ".json"
 
         return label_file
 
@@ -2680,6 +2960,7 @@ def import_dropped_image_files(self, image_files):
             f".{fmt.data().decode().lower()}"
             for fmt in QtGui.QImageReader.supportedImageFormats()
         ]
+        extensions.extend(MESH_EXTENSIONS)
 
         self.filename = None
         for file in image_files:
@@ -2711,6 +2992,7 @@ def import_image_folder(self, dirpath, pattern=None, load=True):
             return
 
         self.last_open_dir = dirpath
+        self._load_folder_labels()
         self.filename = None
         self.file_list_widget.clear()
         for filename in self.scan_all_images(dirpath):
@@ -2735,6 +3017,7 @@ def scan_all_images(self, folder_path):
             for fmt in QtGui.QImageReader.supportedImageFormats()
             if fmt.data().decode().lower() != "svg"
         ]
+        extensions.extend(MESH_EXTENSIONS)
 
         images = []
         for root, _, files in os.walk(folder_path):
diff --git a/anylabeling/views/labeling/shape.py b/anylabeling/views/labeling/shape.py
index 9ee8ae6..fe235ed 100644
--- a/anylabeling/views/labeling/shape.py
+++ b/anylabeling/views/labeling/shape.py
@@ -51,11 +51,13 @@ def __init__(
         shape_type=None,
         flags=None,
         group_id=None,
+        vertex_indices=None,
     ):
         self.label = label
         self.text = text
         self.group_id = group_id
         self.points = []
+        self.vertex_indices = vertex_indices or []
         self.fill = False
         self.selected = False
         self.shape_type = shape_type
@@ -73,6 +75,10 @@ def __init__(
 
         self._closed = False
 
+        self._path = None  # Cache for QPainterPath
+        self._vrtx_path = None  # Cache for vertex QPainterPath
+        self._last_scale = None  # Track scale for vertex path invalidation
+
         if line_color is not None:
             # Override the class line_color attribute
             # with an object attribute. Currently this
@@ -98,6 +104,8 @@ def shape_type(self, value):
             "line",
             "circle",
             "linestrip",
+            "brush_3d",
+            "keypoint_3d",
         ]:
             raise ValueError(f"Unexpected shape_type: {value}")
         self._shape_type = value
@@ -112,6 +120,8 @@ def add_point(self, point):
             self.close()
         else:
             self.points.append(point)
+        self._path = None
+        self._vrtx_path = None
 
     def can_add_point(self):
         """Check if shape supports more points"""
@@ -120,16 +130,22 @@ def can_add_point(self):
     def pop_point(self):
         """Remove and return the last point of the shape"""
         if self.points:
+            self._path = None
+            self._vrtx_path = None
             return self.points.pop()
         return None
 
     def insert_point(self, i, point):
         """Insert a point to a specific index"""
         self.points.insert(i, point)
+        self._path = None
+        self._vrtx_path = None
 
     def remove_point(self, i):
         """Remove point from a specific index"""
         self.points.pop(i)
+        self._path = None
+        self._vrtx_path = None
 
     def is_closed(self):
         """Check if the shape is closed"""
@@ -154,63 +170,65 @@ def paint(self, painter: QtGui.QPainter):  # noqa: C901
             pen.setWidth(max(1, int(round(2.0 / self.scale))))
             painter.setPen(pen)
 
-            line_path = QtGui.QPainterPath()
-            vrtx_path = QtGui.QPainterPath()
-
-            if self.shape_type == "rectangle":
-                assert len(self.points) in [1, 2]
-                if len(self.points) == 2:
-                    rectangle = self.get_rect_from_line(*self.points)
-                    line_path.addRect(rectangle)
-                if self.selected:
-                    for i in range(len(self.points)):
-                        self.draw_vertex(vrtx_path, i)
-            elif self.shape_type == "circle":
-                assert len(self.points) in [1, 2]
-                if len(self.points) == 2:
-                    rectangle = self.get_circle_rect_from_line(self.points)
-                    line_path.addEllipse(rectangle)
-                if self.selected:
-                    for i in range(len(self.points)):
-                        self.draw_vertex(vrtx_path, i)
-            elif self.shape_type == "linestrip":
-                line_path.moveTo(self.points[0])
-                if self.selected:
-                    self.draw_vertex(vrtx_path, 0)
-
-                # Small improvement to start at the 2nd point and technically correct
-                for i, p in enumerate(self.points[1:], start=1):
-                    line_path.lineTo(p)
-                    if self.selected:
-                        self.draw_vertex(vrtx_path, i)
-
-            elif self.shape_type == "point":
-                assert len(self.points) == 1
-                self.draw_vertex(vrtx_path, 0)
-            else:
-                line_path.moveTo(self.points[0])
-                # Uncommenting the following line will draw 2 paths
-                # for the 1st vertex, and make it non-filled, which
-                # may be desirable.
-                self.draw_vertex(vrtx_path, 0)
-
-                # Small improvement to start at the 2nd point and technically correct
-                for i, p in enumerate(self.points[1:], start=1):
-                    line_path.lineTo(p)
-                    if self.selected:
-                        self.draw_vertex(vrtx_path, i)
+            # Invalidate vertex path if scale changed (since vertex size depends on scale)
+            if self.scale != self._last_scale:
+                self._vrtx_path = None
+                self._last_scale = self.scale
 
-                if self.is_closed():
-                    # Properly close the path
-                    line_path.closeSubpath()
+            if self._path is None or (self.selected and self._vrtx_path is None):
+                self._path = QtGui.QPainterPath()
+                self._vrtx_path = QtGui.QPainterPath()
 
-            painter.drawPath(line_path)
-            painter.drawPath(vrtx_path)
+                if self.shape_type == "rectangle":
+                    assert len(self.points) in [1, 2]
+                    if len(self.points) == 2:
+                        rectangle = self.get_rect_from_line(*self.points)
+                        self._path.addRect(rectangle)
+                    if self.selected:
+                        for i in range(len(self.points)):
+                            self.draw_vertex(self._vrtx_path, i)
+                elif self.shape_type == "circle":
+                    assert len(self.points) in [1, 2]
+                    if len(self.points) == 2:
+                        rectangle = self.get_circle_rect_from_line(self.points)
+                        self._path.addEllipse(rectangle)
+                    if self.selected:
+                        for i in range(len(self.points)):
+                            self.draw_vertex(self._vrtx_path, i)
+                elif self.shape_type == "linestrip":
+                    self._path.moveTo(self.points[0])
+                    if self.selected:
+                        self.draw_vertex(self._vrtx_path, 0)
+
+                    # Small improvement to start at the 2nd point and technically correct
+                    for i, p in enumerate(self.points[1:], start=1):
+                        self._path.lineTo(p)
+                        if self.selected:
+                            self.draw_vertex(self._vrtx_path, i)
+
+                elif self.shape_type == "point":
+                    assert len(self.points) == 1
+                    self.draw_vertex(self._vrtx_path, 0)
+                else:
+                    self._path.moveTo(self.points[0])
+                    # Always draw first vertex for non-special shapes
+                    self.draw_vertex(self._vrtx_path, 0)
+
+                    for i, p in enumerate(self.points[1:], start=1):
+                        self._path.lineTo(p)
+                        if self.selected:
+                            self.draw_vertex(self._vrtx_path, i)
+
+                    if self.is_closed():
+                        self._path.closeSubpath()
+
+            painter.drawPath(self._path)
+            painter.drawPath(self._vrtx_path)
             if self._vertex_fill_color is not None:
-                painter.fillPath(vrtx_path, self._vertex_fill_color)
+                painter.fillPath(self._vrtx_path, self._vertex_fill_color)
             if self.fill:
                 color = self.select_fill_color if self.selected else self.fill_color
-                painter.fillPath(line_path, color)
+                painter.fillPath(self._path, color)
 
     def draw_vertex(self, path, i):
         """Draw a vertex"""
@@ -262,7 +280,9 @@ def nearest_edge(self, point, epsilon):
 
     def contains_point(self, point):
         """Check if shape contains a point"""
-        return self.make_path().contains(point)
+        if self._path is None:
+            self._path = self.make_path()
+        return self._path.contains(point)
 
     def get_circle_rect_from_line(self, line):
         """Computes parameters to draw with `QPainterPath::addEllipse`"""
@@ -299,10 +319,14 @@ def bounding_rect(self):
     def move_by(self, offset):
         """Move all points by an offset"""
         self.points = [p + offset for p in self.points]
+        self._path = None
+        self._vrtx_path = None
 
     def move_vertex_by(self, i, offset):
         """Move a specific vertex by an offset"""
         self.points[i] = self.points[i] + offset
+        self._path = None
+        self._vrtx_path = None
 
     def highlight_vertex(self, i, action):
         """Highlight a vertex appropriately based on the current action
@@ -314,10 +338,12 @@ def highlight_vertex(self, i, action):
         """
         self._highlight_index = i
         self._highlight_mode = action
+        self._vrtx_path = None
 
     def highlight_clear(self):
         """Clear the highlighted point"""
         self._highlight_index = None
+        self._vrtx_path = None
 
     def copy(self):
         """Copy shape"""
diff --git a/anylabeling/views/labeling/utils/__init__.py b/anylabeling/views/labeling/utils/__init__.py
index 45309dc..dcd4cf2 100644
--- a/anylabeling/views/labeling/utils/__init__.py
+++ b/anylabeling/views/labeling/utils/__init__.py
@@ -22,6 +22,36 @@
     new_button,
     new_icon,
 )
+
+
+def encode_rle(data):
+    """Encode data using Run-Length Encoding"""
+    if len(data) == 0:
+        return []
+    res = []
+    current_val = data[0]
+    current_count = 0
+    for val in data:
+        if val == current_val:
+            current_count += 1
+        else:
+            res.extend([int(current_val), int(current_count)])
+            current_val = val
+            current_count = 1
+    res.extend([int(current_val), int(current_count)])
+    return res
+
+
+def decode_rle(rle):
+    """Decode data using Run-Length Encoding"""
+    res = []
+    for i in range(0, len(rle), 2):
+        val = rle[i]
+        count = rle[i + 1]
+        res.extend([val] * count)
+    return res
+
+
 from .shape import (
     masks_to_bboxes,
     polygons_to_mask,
diff --git a/anylabeling/views/labeling/widgets/__init__.py b/anylabeling/views/labeling/widgets/__init__.py
index f94ead3..506214c 100644
--- a/anylabeling/views/labeling/widgets/__init__.py
+++ b/anylabeling/views/labeling/widgets/__init__.py
@@ -3,6 +3,7 @@
 from .auto_labeling import AutoLabelingWidget
 from .brightness_contrast_dialog import BrightnessContrastDialog
 from .canvas import Canvas
+from .canvas3d import Canvas3D, ViewControls3D
 from .color_dialog import ColorDialog
 from .file_dialog_preview import FileDialogPreview
 from .label_dialog import LabelDialog, LabelQLineEdit
diff --git a/anylabeling/views/labeling/widgets/canvas.py b/anylabeling/views/labeling/widgets/canvas.py
index 8578de8..80d00f7 100644
--- a/anylabeling/views/labeling/widgets/canvas.py
+++ b/anylabeling/views/labeling/widgets/canvas.py
@@ -315,7 +315,7 @@ def mouseMoveEvent(self, ev):  # noqa: C901
             elif self.create_mode == "point":
                 self.line.points = [self.current[0]]
                 self.line.close()
-            self.repaint()
+            self.update()
             self.current.highlight_clear()
             return
 
@@ -324,22 +324,22 @@ def mouseMoveEvent(self, ev):  # noqa: C901
             if self.selected_shapes_copy and self.prev_point:
                 self.override_cursor(CURSOR_MOVE)
                 self.bounded_move_shapes(self.selected_shapes_copy, pos)
-                self.repaint()
+                self.update()
             elif self.selected_shapes:
                 self.selected_shapes_copy = [s.copy() for s in self.selected_shapes]
-                self.repaint()
+                self.update()
             return
 
         # Polygon/Vertex moving.
         if QtCore.Qt.MouseButton.LeftButton & ev.buttons():
             if self.selected_vertex():
                 self.bounded_move_vertex(pos)
-                self.repaint()
+                self.update()
                 self.moving_shape = True
             elif self.selected_shapes and self.prev_point:
                 self.override_cursor(CURSOR_MOVE)
                 self.bounded_move_shapes(self.selected_shapes, pos)
-                self.repaint()
+                self.update()
                 self.moving_shape = True
             return
 
diff --git a/anylabeling/views/labeling/widgets/canvas3d.py b/anylabeling/views/labeling/widgets/canvas3d.py
new file mode 100644
index 0000000..9213810
--- /dev/null
+++ b/anylabeling/views/labeling/widgets/canvas3d.py
@@ -0,0 +1,1112 @@
+import numpy as np
+import pyvista as pv
+import vtk
+from PyQt6 import QtCore
+from PyQt6.QtWidgets import (
+    QButtonGroup,
+    QCheckBox,
+    QComboBox,
+    QGroupBox,
+    QHBoxLayout,
+    QLabel,
+    QPushButton,
+    QSlider,
+    QVBoxLayout,
+    QWidget,
+)
+from pyvistaqt import QtInteractor
+
+from .. import utils
+from ..shape import Shape
+
+
+class ViewControls3D(QWidget):
+    """Collapsible controls panel for 3D mesh viewing options"""
+
+    def __init__(self, canvas, parent=None):
+        super().__init__(parent)
+        self.canvas = canvas
+        self._build_ui()
+
+    def _build_ui(self):
+        layout = QVBoxLayout()
+        layout.setContentsMargins(6, 6, 6, 6)
+        layout.setSpacing(6)
+
+        # --- Mode toggle group ---
+        mode_group = QGroupBox("Mode")
+        mode_layout = QHBoxLayout()
+        mode_layout.setSpacing(2)
+
+        self.mode_btn_group = QButtonGroup(self)
+        self.mode_btn_group.setExclusive(True)
+
+        self.view_btn = QPushButton("View")
+        self.view_btn.setCheckable(True)
+        self.view_btn.setChecked(True)
+        self.view_btn.setFixedHeight(28)
+
+        self.brush_btn = QPushButton("Brush")
+        self.brush_btn.setCheckable(True)
+        self.brush_btn.setFixedHeight(28)
+
+        self.mode_btn_group.addButton(self.view_btn, 0)
+        self.mode_btn_group.addButton(self.brush_btn, 1)
+
+        mode_layout.addWidget(self.view_btn)
+        mode_layout.addWidget(self.brush_btn)
+
+        mode_group.setLayout(mode_layout)
+        layout.addWidget(mode_group)
+
+        self.mode_btn_group.idClicked.connect(self._on_mode_clicked)
+
+        # --- Brush settings group ---
+        brush_group = QGroupBox("Brush")
+        brush_layout = QVBoxLayout()
+        brush_layout.setSpacing(4)
+
+        size_row = QHBoxLayout()
+        size_row.addWidget(QLabel("Size:"))
+        self.brush_size_slider = QSlider(QtCore.Qt.Orientation.Horizontal)
+        self.brush_size_slider.setRange(1, 100)
+        self.brush_size_slider.setValue(20)
+        self.brush_size_slider.valueChanged.connect(self._on_brush_size)
+        size_row.addWidget(self.brush_size_slider)
+        self.brush_size_label = QLabel("2.0%")
+        self.brush_size_label.setFixedWidth(42)
+        size_row.addWidget(self.brush_size_label)
+        brush_layout.addLayout(size_row)
+
+        brush_group.setLayout(brush_layout)
+        layout.addWidget(brush_group)
+
+        # --- Display group ---
+        display_group = QGroupBox("Display")
+        display_layout = QVBoxLayout()
+        display_layout.setSpacing(4)
+
+        # Representation mode
+        rep_row = QHBoxLayout()
+        rep_row.addWidget(QLabel("Style:"))
+        self.rep_combo = QComboBox()
+        self.rep_combo.addItems(["Surface", "Wireframe", "Points", "Surface + Edges"])
+        self.rep_combo.currentTextChanged.connect(self._on_representation)
+        rep_row.addWidget(self.rep_combo)
+        display_layout.addLayout(rep_row)
+
+        # Show edges
+        self.edges_cb = QCheckBox("Show edges")
+        self.edges_cb.toggled.connect(self._on_edges_toggled)
+        display_layout.addWidget(self.edges_cb)
+
+        # Double-sided rendering
+        self.doublesided_cb = QCheckBox("Double-sided")
+        self.doublesided_cb.setChecked(True)
+        self.doublesided_cb.toggled.connect(self._on_doublesided)
+        display_layout.addWidget(self.doublesided_cb)
+
+        # Smooth shading
+        self.smooth_cb = QCheckBox("Smooth shading")
+        self.smooth_cb.setChecked(True)
+        self.smooth_cb.toggled.connect(self._on_smooth_shading)
+        display_layout.addWidget(self.smooth_cb)
+
+        display_group.setLayout(display_layout)
+        layout.addWidget(display_group)
+
+        # --- Material group ---
+        material_group = QGroupBox("Material")
+        material_layout = QVBoxLayout()
+        material_layout.setSpacing(4)
+
+        # Opacity slider
+        opacity_row = QHBoxLayout()
+        opacity_row.addWidget(QLabel("Opacity:"))
+        self.opacity_slider = QSlider(QtCore.Qt.Orientation.Horizontal)
+        self.opacity_slider.setRange(10, 100)
+        self.opacity_slider.setValue(100)
+        self.opacity_slider.valueChanged.connect(self._on_opacity)
+        opacity_row.addWidget(self.opacity_slider)
+        self.opacity_label = QLabel("100%")
+        self.opacity_label.setFixedWidth(36)
+        opacity_row.addWidget(self.opacity_label)
+        material_layout.addLayout(opacity_row)
+
+        # Metallic slider
+        metallic_row = QHBoxLayout()
+        metallic_row.addWidget(QLabel("Metallic:"))
+        self.metallic_slider = QSlider(QtCore.Qt.Orientation.Horizontal)
+        self.metallic_slider.setRange(0, 100)
+        self.metallic_slider.setValue(10)
+        self.metallic_slider.valueChanged.connect(self._on_metallic)
+        metallic_row.addWidget(self.metallic_slider)
+        self.metallic_label = QLabel("0.10")
+        self.metallic_label.setFixedWidth(36)
+        metallic_row.addWidget(self.metallic_label)
+        material_layout.addLayout(metallic_row)
+
+        # Roughness slider
+        roughness_row = QHBoxLayout()
+        roughness_row.addWidget(QLabel("Roughness:"))
+        self.roughness_slider = QSlider(QtCore.Qt.Orientation.Horizontal)
+        self.roughness_slider.setRange(0, 100)
+        self.roughness_slider.setValue(50)
+        self.roughness_slider.valueChanged.connect(self._on_roughness)
+        roughness_row.addWidget(self.roughness_slider)
+        self.roughness_label = QLabel("0.50")
+        self.roughness_label.setFixedWidth(36)
+        roughness_row.addWidget(self.roughness_label)
+        material_layout.addLayout(roughness_row)
+
+        # Color preset
+        color_row = QHBoxLayout()
+        color_row.addWidget(QLabel("Color:"))
+        self.color_combo = QComboBox()
+        self.color_combo.addItems(
+            ["White", "Light Gray", "Beige", "Light Blue", "Cyan", "Gold"]
+        )
+        self.color_combo.currentTextChanged.connect(self._on_color)
+        color_row.addWidget(self.color_combo)
+        material_layout.addLayout(color_row)
+
+        material_group.setLayout(material_layout)
+        layout.addWidget(material_group)
+
+        # --- Camera group ---
+        camera_group = QGroupBox("Camera")
+        camera_layout = QVBoxLayout()
+        camera_layout.setSpacing(4)
+
+        # View preset buttons
+        view_row1 = QHBoxLayout()
+        for label, view in [
+            ("+X", (1, 0, 0)),
+            ("-X", (-1, 0, 0)),
+            ("+Y", (0, 1, 0)),
+            ("-Y", (0, -1, 0)),
+        ]:
+            btn = QPushButton(label)
+            btn.setFixedHeight(24)
+            btn.clicked.connect(
+                lambda _, v=view: self.canvas.set_viewup_and_position(v)
+            )
+            view_row1.addWidget(btn)
+        camera_layout.addLayout(view_row1)
+
+        view_row2 = QHBoxLayout()
+        for label, view in [
+            ("+Z", (0, 0, 1)),
+            ("-Z", (0, 0, -1)),
+            ("Iso", "iso"),
+        ]:
+            btn = QPushButton(label)
+            btn.setFixedHeight(24)
+            btn.clicked.connect(
+                lambda _, v=view: self.canvas.set_viewup_and_position(v)
+            )
+            view_row2.addWidget(btn)
+
+        reset_btn = QPushButton("Reset")
+        reset_btn.setFixedHeight(24)
+        reset_btn.clicked.connect(self.canvas.reset_camera)
+        view_row2.addWidget(reset_btn)
+        camera_layout.addLayout(view_row2)
+
+        # Projection
+        self.parallel_cb = QCheckBox("Parallel projection")
+        self.parallel_cb.toggled.connect(self._on_parallel_projection)
+        camera_layout.addWidget(self.parallel_cb)
+
+        camera_group.setLayout(camera_layout)
+        layout.addWidget(camera_group)
+
+        layout.addStretch()
+        self.setLayout(layout)
+
+    # --- Callbacks ---
+
+    def _on_representation(self, text):
+        self.canvas.set_representation(text)
+
+    def _on_edges_toggled(self, checked):
+        # Sync combo when toggling edges independently
+        if checked and self.rep_combo.currentText() == "Surface":
+            self.rep_combo.blockSignals(True)
+            self.rep_combo.setCurrentText("Surface + Edges")
+            self.rep_combo.blockSignals(False)
+        elif not checked and self.rep_combo.currentText() == "Surface + Edges":
+            self.rep_combo.blockSignals(True)
+            self.rep_combo.setCurrentText("Surface")
+            self.rep_combo.blockSignals(False)
+        self.canvas.set_show_edges(checked)
+
+    def _on_doublesided(self, checked):
+        self.canvas.set_doublesided(checked)
+
+    def _on_smooth_shading(self, checked):
+        self.canvas.set_smooth_shading(checked)
+
+    def _on_opacity(self, value):
+        self.opacity_label.setText(f"{value}%")
+        self.canvas.set_opacity(value / 100.0)
+
+    def _on_metallic(self, value):
+        v = value / 100.0
+        self.metallic_label.setText(f"{v:.2f}")
+        self.canvas.set_metallic(v)
+
+    def _on_roughness(self, value):
+        v = value / 100.0
+        self.roughness_label.setText(f"{v:.2f}")
+        self.canvas.set_roughness(v)
+
+    def _on_color(self, text):
+        color_map = {
+            "White": "white",
+            "Light Gray": "lightgray",
+            "Beige": "wheat",
+            "Light Blue": "lightblue",
+            "Cyan": "lightcyan",
+            "Gold": "gold",
+        }
+        self.canvas.set_mesh_color(color_map.get(text, "white"))
+
+    def _on_parallel_projection(self, checked):
+        self.canvas.set_parallel_projection(checked)
+
+    def _on_brush_size(self, value):
+        pct = value / 10.0
+        self.brush_size_label.setText(f"{pct:.1f}%")
+        # Compute actual radius from mesh bounding box diagonal
+        if self.canvas._main_mesh is not None:
+            bounds = self.canvas._main_mesh.bounds
+            diag = np.linalg.norm(
+                np.array([bounds[1], bounds[3], bounds[5]])
+                - np.array([bounds[0], bounds[2], bounds[4]])
+            )
+            self.canvas.set_brush_radius(diag * pct / 100.0)
+
+    def _on_mode_clicked(self, btn_id):
+        mode_map = {0: Canvas3D.VIEW, 1: Canvas3D.BRUSH}
+        mode = mode_map.get(btn_id, Canvas3D.VIEW)
+        self.canvas.set_mode(mode)
+
+    def set_mode(self, mode):
+        """Sync toggle buttons to reflect externally set mode"""
+        mode_to_id = {Canvas3D.VIEW: 0, Canvas3D.BRUSH: 1}
+        btn_id = mode_to_id.get(mode, 0)
+        self.mode_btn_group.button(btn_id).setChecked(True)
+
+
+class Canvas3D(QtInteractor):
+    """3D Canvas for mesh visualization and annotation"""
+
+    # Emitted once when a new label is first painted (not per stroke)
+    new_shape = QtCore.pyqtSignal()
+    # Emitted when existing shape data changes (for dirty tracking)
+    shapes_updated = QtCore.pyqtSignal()
+    selection_changed = QtCore.pyqtSignal(list)
+    zoom_request = QtCore.pyqtSignal(int, QtCore.QPoint)
+    scroll_request = QtCore.pyqtSignal(int, QtCore.Qt.Orientation)
+
+    VIEW = "view"
+    BRUSH = "brush"
+
+    # Default rendering properties
+    _DEFAULT_COLOR = "white"
+    _DEFAULT_METALLIC = 0.1
+    _DEFAULT_ROUGHNESS = 0.5
+    _DEFAULT_OPACITY = 1.0
+
+    # Unlabeled sentinel
+    _NO_LABEL = -1
+
+    def __init__(self, parent=None):
+        # Suppress VTK warnings
+        vtk.vtkObject.GlobalWarningDisplayOff()
+
+        super().__init__(parent)
+        self.parent = parent
+        self._main_mesh = None
+        self.mode = self.VIEW
+        self.brush_radius = 0.05
+        self.active_label = ""
+        self.selected_shapes = []
+
+        # --- Efficient data structures ---
+        # Per-vertex label id: numpy int array, _NO_LABEL = unlabeled
+        self._vertex_label_ids = np.array([], dtype=np.int32)
+        # Bidirectional label <-> id mapping
+        self._label_to_id = {}  # label_str -> int id
+        self._id_to_label = []  # id -> label_str
+        # Label colors: id -> (r, g, b) uint8
+        self._label_colors = {}  # label_str -> (r, g, b)
+        # One consolidated Shape per label for saving
+        self._shapes_by_label = {}  # label_str -> Shape
+
+        # Interaction state
+        self._painting = False
+        self._stroke_dirty = False  # vertices changed during current drag
+        self._last_paint_pos = (
+            None  # position of the last paint event for interpolation
+        )
+        self._last_screen_pos = (
+            None  # position of the last screen paint event for interpolation
+        )
+        self._observer_tags = []
+        self._cursor_actor_name = "__brush_cursor__"
+
+        # Per-vertex RGB colors on the main mesh
+        self._vertex_colors = None  # np.uint8 (n, 3) — current vertex colors
+        self._base_color_rgb = np.array([255, 255, 255], dtype=np.uint8)
+        # True once the main mesh actor is rendering with per-vertex scalar
+        # colors (i.e. after the first paint stroke). While this is True the
+        # paint hot path mutates self._main_mesh.point_data in place rather
+        # than re-running self.add_mesh — the latter is O(actor rebuild) and
+        # makes painting feel laggy on dense meshes.
+        self._scalar_mode_active = False
+        # Reused cursor sphere actor — created once per load_mesh and just
+        # repositioned on mouse-move.
+        self._cursor_actor = None
+        self._cursor_radius_baseline = 1.0
+
+        # Reusable picker (avoid re-creating per event)
+        self._picker = vtk.vtkCellPicker()
+        self._picker.SetTolerance(0.005)
+
+        # VTK point locator for fast radius queries
+        self._point_locator = None
+        self._locator_dataset = None  # prevent GC
+        self._mesh_points = None  # stable copy of mesh points
+
+        # Current rendering state
+        self._show_edges = False
+        self._smooth_shading = True
+        self._doublesided = True
+        self._color = self._DEFAULT_COLOR
+        self._metallic = self._DEFAULT_METALLIC
+        self._roughness = self._DEFAULT_ROUGHNESS
+        self._opacity = self._DEFAULT_OPACITY
+
+        # Setup plotter. enable_trackball_style requires an interactive
+        # render-window iren, which isn't present in headless test envs
+        # (vtk-osmesa, no display) — guard so the widget can still be
+        # constructed for unit tests of the data-model layer.
+        try:
+            self.enable_trackball_style()
+        except RuntimeError:
+            pass
+        self.add_axes()
+        self.set_background("slategray", top="white")
+        self._setup_lighting()
+
+    # --- Lighting ---
+
+    def _setup_lighting(self):
+        """Configure three-point lighting for better surface perception"""
+        self.remove_all_lights()
+        key_light = pv.Light(position=(1, 1, 1), focal_point=(0, 0, 0), intensity=0.8)
+        key_light.positional = False
+        fill_light = pv.Light(
+            position=(-1, 0.5, 0.5), focal_point=(0, 0, 0), intensity=0.4
+        )
+        fill_light.positional = False
+        rim_light = pv.Light(
+            position=(0, -1, 0.5), focal_point=(0, 0, 0), intensity=0.3
+        )
+        rim_light.positional = False
+        self.add_light(key_light)
+        self.add_light(fill_light)
+        self.add_light(rim_light)
+
+    # --- Mesh rendering ---
+
+    def _get_main_actor(self):
+        if "main_mesh" in self.renderer.actors:
+            return self.renderer.actors["main_mesh"]
+        return None
+
+    def _redraw_mesh(self):
+        if self._main_mesh is None:
+            return
+
+        # Ensure _vertex_colors size matches mesh size to avoid ValueError
+        if (
+            self._vertex_colors is not None
+            and len(self._vertex_colors) != self._main_mesh.n_points
+        ):
+            return
+
+        # add_mesh below replaces every actor that lives under our names —
+        # including the cursor sphere if it shared the renderer. Drop the
+        # cached cursor reference so _ensure_cursor_actor recreates it lazily.
+        self._cursor_actor = None
+        # add_mesh re-creates the actor, so the in-place scalar fast path
+        # has to re-bootstrap on the next paint.
+        self._scalar_mode_active = False
+
+        has_paint = self._vertex_colors is not None and np.any(
+            self._vertex_label_ids != self._NO_LABEL
+        )
+
+        if has_paint:
+            # Explicitly set scalars on the mesh object and ensure they are active
+            self._main_mesh.point_data["label_colors"] = self._vertex_colors
+            self._main_mesh.set_active_scalars("label_colors")
+            self.add_mesh(
+                self._main_mesh,
+                name="main_mesh",
+                pickable=True,
+                scalars="label_colors",
+                rgb=True,
+                opacity=self._opacity,
+                smooth_shading=self._smooth_shading,
+                split_sharp_edges=self._smooth_shading,
+                show_edges=self._show_edges,
+                reset_camera=False,
+            )
+        else:
+            # Clean mesh, no paint — use PBR material
+            if "label_colors" in self._main_mesh.point_data:
+                del self._main_mesh.point_data["label_colors"]
+            self.add_mesh(
+                self._main_mesh,
+                name="main_mesh",
+                pickable=True,
+                pbr=True,
+                metallic=self._metallic,
+                roughness=self._roughness,
+                color=self._color,
+                opacity=self._opacity,
+                smooth_shading=self._smooth_shading,
+                split_sharp_edges=self._smooth_shading,
+                show_edges=self._show_edges,
+                reset_camera=False,
+            )
+
+        actor = self._get_main_actor()
+        if actor:
+            actor.GetProperty().SetBackfaceCulling(not self._doublesided)
+        self.render()
+
+    def load_mesh(self, filename):
+        """Load and display a mesh file"""
+        self.clear()
+        self._shapes_by_label.clear()
+        self._label_to_id.clear()
+        self._id_to_label.clear()
+        # self.clear() removed all actors including any previous cursor sphere.
+        self._cursor_actor = None
+        self._scalar_mode_active = False
+        self._setup_lighting()
+        try:
+            self._main_mesh = pv.read(filename)
+            if not self._main_mesh.n_points:
+                raise ValueError("Mesh has no points")
+
+            self._main_mesh.compute_normals(inplace=True)
+            n = self._main_mesh.n_points
+
+            # Stable copy of vertex positions (survives add_mesh transforms)
+            self._mesh_points = np.array(self._main_mesh.points, copy=True)
+
+            # Init vertex labels array
+            self._vertex_label_ids = np.full(n, self._NO_LABEL, dtype=np.int32)
+
+            # Init per-vertex colors (all base color)
+            self._vertex_colors = np.tile(self._base_color_rgb, (n, 1)).astype(np.uint8)
+
+            # Build VTK point locator for fast radius queries
+            self._build_point_locator()
+
+            self._redraw_mesh()
+            self.reset_camera()
+
+            # Brush radius = 2% of bounding box diagonal
+            bounds = self._main_mesh.bounds
+            diag = np.linalg.norm(
+                np.array([bounds[1], bounds[3], bounds[5]])
+                - np.array([bounds[0], bounds[2], bounds[4]])
+            )
+            self.brush_radius = diag * 0.02
+
+        except Exception as e:
+            print(f"Error loading mesh: {e}")
+
+    def _build_point_locator(self):
+        """Build a VTK static point locator for O(log n) radius queries"""
+        # Keep reference to dataset to prevent garbage collection
+        self._locator_dataset = pv.PolyData(self._mesh_points)
+        self._point_locator = vtk.vtkStaticPointLocator()
+        self._point_locator.SetDataSet(self._locator_dataset)
+        self._point_locator.BuildLocator()
+
+    # --- Label id management ---
+
+    @property
+    def vertex_label_ids(self):
+        """Return array of vertex label ids"""
+        return self._vertex_label_ids
+
+    @vertex_label_ids.setter
+    def vertex_label_ids(self, value):
+        """Set vertex label ids"""
+        n_verts = len(self._vertex_label_ids)
+        ids = np.array(value, dtype=np.int32)
+        if len(ids) == n_verts:
+            self._vertex_label_ids = ids
+            self._refresh_vertex_colors()
+
+    def load_vertex_label_ids(self, ids):
+        """Load vertex label ids from array of class ids (int) or RLE"""
+        if self._main_mesh is None:
+            return
+        n_verts = len(self._vertex_label_ids)
+
+        # Check if it's RLE-encoded (heuristically or by checking decoded length)
+        if len(ids) != n_verts:
+            try:
+                decoded_ids = utils.decode_rle(ids)
+                if len(decoded_ids) == n_verts:
+                    ids = decoded_ids
+            except Exception:
+                pass
+
+        ids_arr = np.array(ids, dtype=np.int32)
+        if len(ids_arr) != n_verts:
+            return
+
+        self._vertex_label_ids = ids_arr
+
+        # Build shapes from label ids
+        self._shapes_by_label.clear()
+        unique_lids = np.unique(self._vertex_label_ids)
+        new_labels = []
+        for lid in unique_lids:
+            if lid == self._NO_LABEL:
+                continue
+
+            label = self._get_lid_to_label(lid)
+            if not label:
+                continue
+
+            indices = np.where(self._vertex_label_ids == lid)[0]
+            if len(indices) > 0:
+                self._shapes_by_label[label] = Shape(
+                    shape_type="brush_3d",
+                    vertex_indices=sorted(indices.tolist()),
+                    label=label,
+                )
+                new_labels.append(label)
+
+        self._refresh_vertex_colors()
+        for _ in new_labels:
+            self.new_shape.emit()
+
+    def _get_or_create_label_id(self, label):
+        """Get numeric id for a label string, creating if needed"""
+        if label not in self._label_to_id:
+            lid = len(self._id_to_label)
+            self._label_to_id[label] = lid
+            self._id_to_label.append(label)
+        return self._label_to_id[label]
+
+    def _get_lid_to_label(self, lid):
+        """Get label string for a numeric id"""
+        if 0 <= lid < len(self._id_to_label):
+            return self._id_to_label[lid]
+        return None
+
+    # --- View control methods ---
+
+    def set_representation(self, mode):
+        actor = self._get_main_actor()
+        if not actor:
+            return
+        prop = actor.GetProperty()
+        if mode == "Wireframe":
+            prop.SetRepresentationToWireframe()
+            self._show_edges = False
+        elif mode == "Points":
+            prop.SetRepresentationToPoints()
+            prop.SetPointSize(3)
+            self._show_edges = False
+        elif mode == "Surface + Edges":
+            prop.SetRepresentationToSurface()
+            prop.SetEdgeVisibility(True)
+            self._show_edges = True
+        else:
+            prop.SetRepresentationToSurface()
+            prop.SetEdgeVisibility(False)
+            self._show_edges = False
+        self.render()
+
+    def set_show_edges(self, show):
+        self._show_edges = show
+        actor = self._get_main_actor()
+        if actor:
+            actor.GetProperty().SetEdgeVisibility(show)
+            self.render()
+
+    def set_doublesided(self, enabled):
+        self._doublesided = enabled
+        actor = self._get_main_actor()
+        if actor:
+            actor.GetProperty().SetBackfaceCulling(not enabled)
+            self.render()
+
+    def set_smooth_shading(self, enabled):
+        self._smooth_shading = enabled
+        self._redraw_mesh()
+
+    def set_opacity(self, opacity):
+        self._opacity = opacity
+        actor = self._get_main_actor()
+        if actor:
+            actor.GetProperty().SetOpacity(opacity)
+            self.render()
+
+    def set_metallic(self, value):
+        self._metallic = value
+        self._redraw_mesh()
+
+    def set_roughness(self, value):
+        self._roughness = value
+        self._redraw_mesh()
+
+    def set_mesh_color(self, color):
+        self._color = color
+        self._redraw_mesh()
+
+    def set_parallel_projection(self, enabled):
+        if enabled:
+            self.enable_parallel_projection()
+        else:
+            self.disable_parallel_projection()
+
+    def set_viewup_and_position(self, direction):
+        if self._main_mesh is None:
+            return
+        if direction == "iso":
+            self.view_isometric()
+        else:
+            dx, dy, dz = direction
+            view_up = (0, 1, 0) if abs(dz) == 1 else (0, 0, 1)
+            self.view_vector((-dx, -dy, -dz), viewup=view_up)
+        self.reset_camera()
+
+    def set_brush_radius(self, radius):
+        self.brush_radius = radius
+
+    # --- Mode and interaction ---
+
+    def _iren_interactor(self):
+        """Return the live VTK interactor, or None in headless contexts."""
+        try:
+            iren = self.iren.interactor if self.iren is not None else None
+        except RuntimeError:
+            iren = None
+        return iren
+
+    def set_mode(self, mode):
+        self.mode = mode
+        self.disable_picking()
+        self._remove_paint_observers()
+        self._hide_cursor()
+        self._painting = False
+        if mode == self.VIEW:
+            try:
+                self.enable_trackball_style()
+            except RuntimeError:
+                pass
+        else:
+            iren = self._iren_interactor()
+            if iren is not None:
+                style = vtk.vtkInteractorStyleUser()
+                iren.SetInteractorStyle(style)
+                self._install_paint_observers()
+
+    def _install_paint_observers(self):
+        self._remove_paint_observers()
+        iren = self._iren_interactor()
+        if iren is None:
+            return
+        self._observer_tags = [
+            iren.AddObserver("MouseMoveEvent", self._on_mouse_move),
+            iren.AddObserver("LeftButtonPressEvent", self._on_left_press),
+            iren.AddObserver("LeftButtonReleaseEvent", self._on_left_release),
+        ]
+
+    def _remove_paint_observers(self):
+        iren = self._iren_interactor()
+        if iren is None:
+            self._observer_tags = []
+            return
+        for tag in self._observer_tags:
+            iren.RemoveObserver(tag)
+        self._observer_tags = []
+
+    def _on_mouse_move(self, obj, event):
+        if self._main_mesh is None:
+            return
+        pos = self.iren.interactor.GetEventPosition()
+        hit = self._raycast(pos)
+        if hit is not None:
+            self._show_cursor(hit)
+            if self._painting and self.mode == self.BRUSH:
+                self._paint_at(hit, pos)
+        else:
+            self._hide_cursor()
+
+    def _on_left_press(self, obj, event):
+        if self._main_mesh is None:
+            return
+        self._painting = True
+        self._stroke_dirty = False
+        pos = self.iren.interactor.GetEventPosition()
+        hit = self._raycast(pos)
+        if hit is not None:
+            self._paint_at(hit, pos)
+
+    def _on_left_release(self, obj, event):
+        if self._painting and self._stroke_dirty:
+            self.shapes_updated.emit()
+        self._painting = False
+        self._stroke_dirty = False
+        self._last_paint_pos = None
+        self._last_screen_pos = None
+
+    # --- Raycasting (reuses picker) ---
+
+    def _raycast(self, screen_pos):
+        hit = self._picker.Pick(screen_pos[0], screen_pos[1], 0, self.renderer)
+        if hit:
+            return np.array(self._picker.GetPickPosition())
+        return None
+
+    # --- Fast radius query via VTK locator ---
+
+    def _find_vertices_in_radius(self, center):
+        """O(log n) radius query using VTK static point locator"""
+        if self._point_locator is None:
+            return np.array([], dtype=np.int64)
+        result = vtk.vtkIdList()
+        self._point_locator.FindPointsWithinRadius(self.brush_radius, center, result)
+        n = result.GetNumberOfIds()
+        if n == 0:
+            return np.array([], dtype=np.int64)
+
+        # Optimized conversion from vtkIdList to numpy array
+        indices = np.empty(n, dtype=np.int64)
+        for i in range(n):
+            indices[i] = result.GetId(i)
+        return indices
+
+    def _find_vertices_in_screen_radius(self, hit_point, screen_pos):
+        """Find vertices whose projection is within the brush radius on screen."""
+        if self._point_locator is None or self._main_mesh is None:
+            return np.array([], dtype=np.int64)
+
+        # 1. Estimate a loose 3D search radius to get candidates.
+        # We use a large enough radius to cover the projected area.
+        # This radius is approximated based on the brush radius and camera distance.
+        # Brush radius is a percentage of diagonal, let's use it directly for 3D search first
+        # to narrow down candidates.
+        search_radius = self.brush_radius * 2.0
+
+        candidates_ids = vtk.vtkIdList()
+        self._point_locator.FindPointsWithinRadius(
+            search_radius, hit_point, candidates_ids
+        )
+        n = candidates_ids.GetNumberOfIds()
+        if n == 0:
+            return np.array([], dtype=np.int64)
+
+        # 2. Project candidate vertices to screen space and check distance to mouse.
+        # Using vtkCoordinate for projection
+        coord = vtk.vtkCoordinate()
+        coord.SetCoordinateSystemToWorld()
+
+        # Determine the 2D brush radius in pixels
+        # Currently brush_radius is in world units.
+        # We need to find the screen-space radius.
+        # Let's project two points separated by brush_radius in world space.
+        p1_world = hit_point
+        p2_world = hit_point + np.array([self.brush_radius, 0, 0])
+
+        def world_to_screen(world_pt):
+            coord.SetValue(*world_pt)
+            return np.array(coord.GetComputedDoubleDisplayValue(self.renderer))
+
+        p1_screen = world_to_screen(p1_world)
+        p2_screen = world_to_screen(p2_world)
+        pixel_radius = np.linalg.norm(p1_screen - p2_screen)
+
+        target_screen = np.array(screen_pos)
+
+        indices = []
+        for i in range(n):
+            idx = candidates_ids.GetId(i)
+            pt_world = self._mesh_points[idx]
+            pt_screen = world_to_screen(pt_world)
+            if np.linalg.norm(pt_screen - target_screen) <= pixel_radius:
+                indices.append(idx)
+
+        return np.array(indices, dtype=np.int64)
+
+    # --- Mesh overlay for painting & cursor ---
+
+    def _apply_colors_and_render(self):
+        """Push current vertex colours to VTK and re-render in place.
+
+        Hot path during a brush stroke. The first invocation switches the
+        main mesh from PBR shading to per-vertex scalar colouring (one
+        full add_mesh, unavoidable). Every subsequent invocation just
+        mutates ``self._main_mesh.point_data`` and triggers a re-render —
+        roughly O(n_painted_verts) for the numpy assign and O(1) extra
+        VTK overhead instead of rebuilding the actor.
+        """
+        if self._main_mesh is None or self._vertex_colors is None:
+            return
+        if not self._scalar_mode_active:
+            self._redraw_mesh()
+            self._scalar_mode_active = True
+            return
+        # Reassign — pyvista's wrapper marks the underlying VTK array
+        # modified, which is what the renderer needs to see new colours.
+        self._main_mesh.point_data["label_colors"] = self._vertex_colors
+        self._main_mesh.set_active_scalars("label_colors")
+        self.render()
+
+    def _ensure_cursor_actor(self):
+        """Create the brush-cursor sphere once and reuse it across moves."""
+        if self._cursor_actor is not None:
+            return
+        unit_sphere = pv.Sphere(
+            radius=1.0,
+            theta_resolution=16,
+            phi_resolution=16,
+        )
+        self._cursor_actor = self.add_mesh(
+            unit_sphere,
+            color="cyan",
+            opacity=0.2,
+            name=self._cursor_actor_name,
+            pickable=False,
+            reset_camera=False,
+        )
+        # Hide until the first _show_cursor call positions it.
+        self._cursor_actor.SetVisibility(False)
+
+    def _show_cursor(self, center):
+        """Position and show the brush cursor sphere."""
+        self._ensure_cursor_actor()
+        if self._cursor_actor is None:
+            return
+        r = float(self.brush_radius)
+        self._cursor_actor.SetScale(r, r, r)
+        self._cursor_actor.SetPosition(float(center[0]), float(center[1]), float(center[2]))
+        self._cursor_actor.SetVisibility(True)
+
+    def _hide_cursor(self):
+        if self._cursor_actor is not None:
+            self._cursor_actor.SetVisibility(False)
+
+    # --- Vertex painting ---
+
+    def set_label_color(self, label, rgb):
+        self._label_colors[label] = tuple(rgb)
+        # Update existing painted vertices with new color
+        if label in self._label_to_id and self._vertex_colors is not None:
+            lid = self._label_to_id[label]
+            mask = self._vertex_label_ids == lid
+            if np.any(mask):
+                self._vertex_colors[mask] = [rgb[0], rgb[1], rgb[2]]
+
+    def _paint_at(self, point, screen_pos=None):
+        """Paint vertices at a world-space point with immediate visual feedback."""
+        label = self.active_label or "mask"
+        lid = self._get_or_create_label_id(label)
+        rgb = self._label_colors.get(label, (0, 255, 0))
+
+        if self.mode == self.BRUSH:
+            # Interpolate between last position and current position for smooth strokes
+            points_to_paint = [point]
+            screens_to_paint = [screen_pos] if screen_pos is not None else [None]
+
+            if self._last_paint_pos is not None:
+                diff = point - self._last_paint_pos
+                dist = np.linalg.norm(diff)
+                # If distance is more than half a radius, interpolate
+                if dist > self.brush_radius * 0.5:
+                    num_steps = int(dist / (self.brush_radius * 0.5))
+                    for i in range(1, num_steps):
+                        interp_point = self._last_paint_pos + diff * (i / num_steps)
+                        points_to_paint.append(interp_point)
+                        # Also interpolate screen position if available
+                        if (
+                            screen_pos is not None
+                            and getattr(self, "_last_screen_pos", None) is not None
+                        ):
+                            s_diff = np.array(screen_pos) - np.array(
+                                self._last_screen_pos
+                            )
+                            interp_screen = np.array(self._last_screen_pos) + s_diff * (
+                                i / num_steps
+                            )
+                            screens_to_paint.append(interp_screen)
+                        else:
+                            screens_to_paint.append(None)
+
+            new_indices_set = set()
+            for p, s in zip(points_to_paint, screens_to_paint):
+                if s is not None:
+                    indices = self._find_vertices_in_screen_radius(p, s)
+                else:
+                    indices = self._find_vertices_in_radius(p)
+
+                if len(indices) > 0:
+                    self._vertex_label_ids[indices] = lid
+                    self._vertex_colors[indices] = [rgb[0], rgb[1], rgb[2]]
+                    new_indices_set.update(indices.tolist())
+
+            if new_indices_set:
+                self._merge_into_shape(label, new_indices_set, "brush_3d")
+
+            self._last_paint_pos = point
+            if screen_pos is not None:
+                self._last_screen_pos = screen_pos
+
+        self._stroke_dirty = True
+        self._apply_colors_and_render()
+
+    def _merge_into_shape(self, label, new_indices, shape_type):
+        """Merge vertices into the consolidated shape for this label"""
+        if label in self._shapes_by_label:
+            shape = self._shapes_by_label[label]
+            # Use a set for much faster merging, then convert back to sorted list
+            existing = set(shape.vertex_indices)
+            existing.update(new_indices)
+            shape.vertex_indices = sorted(list(existing))
+        else:
+            shape = Shape(
+                shape_type=shape_type,
+                vertex_indices=sorted(list(set(new_indices))),
+                label=label,
+            )
+            self._shapes_by_label[label] = shape
+            self.new_shape.emit()
+
+    def _refresh_vertex_colors(self):
+        """Rebuild vertex colors from vertex label ids"""
+        if self._vertex_colors is None:
+            return
+
+        # Reset all to base color
+        self._vertex_colors[:] = self._base_color_rgb
+
+        # Apply labels colors
+        n_labels = len(self._id_to_label)
+        for lid in range(n_labels):
+            mask = self._vertex_label_ids == lid
+            if not np.any(mask):
+                continue
+            label_str = self._id_to_label[lid]
+            rgb = self._label_colors.get(label_str, (0, 255, 0))
+            self._vertex_colors[mask] = [rgb[0], rgb[1], rgb[2]]
+
+        self._apply_colors_and_render()
+
+    # --- Shape management ---
+
+    @property
+    def shapes(self):
+        """Return consolidated list of shapes (one per label)"""
+        return list(self._shapes_by_label.values())
+
+    @shapes.setter
+    def shapes(self, value):
+        """Allow assignment for compatibility (e.g. shapes = [])"""
+        self._shapes_by_label.clear()
+        for s in value:
+            if s.label:
+                self._shapes_by_label[s.label] = s
+
+    def add_shape(self, shape):
+        """Add a shape externally"""
+        lid = self._get_or_create_label_id(shape.label)
+        n_verts = len(self._vertex_label_ids)
+        indices = np.array(shape.vertex_indices, dtype=np.int64)
+        indices = indices[(indices >= 0) & (indices < n_verts)]
+        if len(indices) > 0:
+            self._vertex_label_ids[indices] = lid
+        self._shapes_by_label[shape.label] = shape
+        self._refresh_vertex_colors()
+        self.new_shape.emit()
+
+    def load_shapes(self, shapes, replace=True):
+        if replace:
+            # If we already have vertex labels, we don't want to clear them here
+            # as they were likely loaded via load_vertex_label_ids already.
+            # We only clear if no vertex labels are present.
+            if np.all(self._vertex_label_ids == self._NO_LABEL):
+                self.clear_shapes()
+            else:
+                # Only clear non-brush shapes from our tracking
+                to_remove = [
+                    l
+                    for l, s in self._shapes_by_label.items()
+                    if s.shape_type not in ("brush_3d",)
+                ]
+                for l in to_remove:
+                    del self._shapes_by_label[l]
+
+        n_verts = len(self._vertex_label_ids)
+        for shape in shapes:
+            if shape.shape_type not in ("brush_3d",):
+                # Handle other potential shape types if necessary
+                continue
+
+            # If it's a brush shape but we already have labels from vertex_label_ids,
+            # we skip it to avoid redundancy/overwriting with potentially older data.
+            if shape.shape_type == "brush_3d" and not np.all(
+                self._vertex_label_ids == self._NO_LABEL
+            ):
+                continue
+
+            if not shape.vertex_indices:
+                continue
+            label = shape.label
+            lid = self._get_or_create_label_id(label)
+            indices = np.array(shape.vertex_indices, dtype=np.int64)
+            # Clamp to valid vertex range
+            indices = indices[(indices >= 0) & (indices < n_verts)]
+            if len(indices) == 0:
+                continue
+            self._vertex_label_ids[indices] = lid
+            # Merge into consolidated shape (no signal during bulk load)
+            if label in self._shapes_by_label:
+                existing = set(self._shapes_by_label[label].vertex_indices)
+                existing.update(indices.tolist())
+                self._shapes_by_label[label].vertex_indices = sorted(existing)
+            else:
+                self._shapes_by_label[label] = Shape(
+                    shape_type=shape.shape_type,
+                    vertex_indices=sorted(indices.tolist()),
+                    label=label,
+                )
+        self._refresh_vertex_colors()
+        # Emit new_shape once per label for the label list
+        for label in self._shapes_by_label:
+            self.new_shape.emit()
+
+    def clear_shapes(self):
+        if len(self._vertex_label_ids) > 0:
+            self._vertex_label_ids[:] = self._NO_LABEL
+        if self._vertex_colors is not None:
+            self._vertex_colors[:] = self._base_color_rgb
+            self._apply_colors_and_render()
+        self._shapes_by_label.clear()
+        self._label_to_id.clear()
+        self._id_to_label.clear()
diff --git a/pyproject.toml b/pyproject.toml
index f13922a..9e1b573 100644
--- a/pyproject.toml
+++ b/pyproject.toml
@@ -36,6 +36,9 @@ dependencies = [
     "darkdetect>=0.8.0",
     "huggingface_hub>=0.24.0",
     "osam>=0.4.0",  # CLIP tokenizer for SAM3 language encoder
+    "pyvista>=0.43.0",
+    "pyvistaqt>=0.11.0",
+    "trimesh>=4.0.0",
 ]
 
 [project.optional-dependencies]
diff --git a/sample_meshes/README.md b/sample_meshes/README.md
new file mode 100644
index 0000000..0e2a689
--- /dev/null
+++ b/sample_meshes/README.md
@@ -0,0 +1,37 @@
+# Sample meshes
+
+Small synthetic meshes for trying out the 3D mesh-labeling feature
+(`Canvas3D`). All four are generated by `pyvista` and saved with
+`Plotter.export_obj()` — fully synthetic, no licensing constraints.
+
+| File         | Vertices | Triangles | Notes                       |
+| ------------ | -------- | --------- | --------------------------- |
+| `cube.obj`   | 8        | 12        | Smallest test case          |
+| `cone.obj`   | 21       | 38        | Sharp apex, good for picker |
+| `sphere.obj` | 530      | 1056      | Even subdivision            |
+| `torus.obj`  | 529      | 1058      | Genus-1 topology            |
+
+Total on disk: ~190 KB.
+
+## Regenerating
+
+```python
+import pyvista as pv
+
+meshes = {
+    "cube.obj":   pv.Cube().triangulate(),
+    "sphere.obj": pv.Sphere(theta_resolution=24, phi_resolution=24),
+    "torus.obj":  pv.ParametricTorus(u_res=24, v_res=24).triangulate(),
+    "cone.obj":   pv.Cone(resolution=20).triangulate(),
+}
+for name, mesh in meshes.items():
+    pl = pv.Plotter(off_screen=True)
+    pl.add_mesh(mesh)
+    pl.export_obj(f"sample_meshes/{name}")
+    pl.close()
+```
+
+## Bring your own mesh
+
+Anything `pyvista.read()` understands works: `.obj`, `.ply`, `.stl`,
+`.vtk`, `.vtu`, etc.
diff --git a/sample_meshes/cone.obj b/sample_meshes/cone.obj
new file mode 100644
index 0000000..084611e
--- /dev/null
+++ b/sample_meshes/cone.obj
@@ -0,0 +1,66 @@
+#  wavefront obj file written by the visualization toolkit
+
+mtllib cone.mtl
+
+v 0.5 0 0
+v -0.5 0.5 0
+v -0.5 0.4755282700061798 0.15450850129127502
+v -0.5 0.404508501291275 0.29389262199401855
+v -0.5 0.29389262199401855 0.404508501291275
+v -0.5 0.15450850129127502 0.4755282700061798
+v -0.5 3.0616171314629196e-17 0.5
+v -0.5 -0.15450850129127502 0.4755282700061798
+v -0.5 -0.29389262199401855 0.404508501291275
+v -0.5 -0.404508501291275 0.29389262199401855
+v -0.5 -0.4755282700061798 0.15450850129127502
+v -0.5 -0.5 6.123234262925839e-17
+v -0.5 -0.4755282700061798 -0.15450850129127502
+v -0.5 -0.404508501291275 -0.29389262199401855
+v -0.5 -0.29389262199401855 -0.404508501291275
+v -0.5 -0.15450850129127502 -0.4755282700061798
+v -0.5 -9.184850732644269e-17 -0.5
+v -0.5 0.15450850129127502 -0.4755282700061798
+v -0.5 0.29389262199401855 -0.404508501291275
+v -0.5 0.404508501291275 -0.29389262199401855
+v -0.5 0.4755282700061798 -0.15450850129127502
+
+g grp1
+usemtl mtl1
+f 18 17 19 
+f 19 17 20 
+f 17 16 20 
+f 16 15 20 
+f 15 14 20 
+f 20 14 21 
+f 21 14 2 
+f 2 14 3 
+f 3 14 4 
+f 4 14 5 
+f 5 14 6 
+f 14 13 6 
+f 13 12 6 
+f 12 11 6 
+f 6 11 7 
+f 7 11 8 
+f 8 11 9 
+f 11 10 9 
+f 1 2 3 
+f 1 3 4 
+f 1 4 5 
+f 1 5 6 
+f 1 6 7 
+f 1 7 8 
+f 1 8 9 
+f 1 9 10 
+f 1 10 11 
+f 1 11 12 
+f 1 12 13 
+f 1 13 14 
+f 1 14 15 
+f 1 15 16 
+f 1 16 17 
+f 1 17 18 
+f 1 18 19 
+f 1 19 20 
+f 1 20 21 
+f 1 21 2 
diff --git a/sample_meshes/cube.obj b/sample_meshes/cube.obj
new file mode 100644
index 0000000..17d3651
--- /dev/null
+++ b/sample_meshes/cube.obj
@@ -0,0 +1,43 @@
+#  wavefront obj file written by the visualization toolkit
+
+mtllib cube.mtl
+
+v -0.5 -0.5 -0.5
+v -0.5 -0.5 0.5
+v -0.5 0.5 0.5
+v -0.5 0.5 -0.5
+v 0.5 -0.5 -0.5
+v 0.5 0.5 -0.5
+v 0.5 0.5 0.5
+v 0.5 -0.5 0.5
+vn -0.5773503184318542 -0.5773503184318542 -0.5773503184318542
+vn -0.5773503184318542 -0.5773503184318542 0.5773503184318542
+vn -0.5773503184318542 0.5773503184318542 0.5773503184318542
+vn -0.5773503184318542 0.5773503184318542 -0.5773503184318542
+vn 0.5773503184318542 -0.5773503184318542 -0.5773503184318542
+vn 0.5773503184318542 0.5773503184318542 -0.5773503184318542
+vn 0.5773503184318542 0.5773503184318542 0.5773503184318542
+vn 0.5773503184318542 -0.5773503184318542 0.5773503184318542
+vt 0 0 0
+vt 1 0 0
+vt 1 1 0
+vt 0 1 0
+vt 0 0 0
+vt 0 1 0
+vt -1 1 0
+vt -1 0 0
+
+g grp1
+usemtl mtl1
+f 1/1/1 2/2/2 4/4/4 
+f 3/3/3 4/4/4 2/2/2 
+f 5/5/5 6/6/6 8/8/8 
+f 7/7/7 8/8/8 6/6/6 
+f 1/1/1 5/5/5 2/2/2 
+f 8/8/8 2/2/2 5/5/5 
+f 4/4/4 3/3/3 6/6/6 
+f 7/7/7 6/6/6 3/3/3 
+f 1/1/1 4/4/4 5/5/5 
+f 6/6/6 5/5/5 4/4/4 
+f 2/2/2 8/8/8 3/3/3 
+f 7/7/7 3/3/3 8/8/8 
diff --git a/sample_meshes/sphere.obj b/sample_meshes/sphere.obj
new file mode 100644
index 0000000..e3e3192
--- /dev/null
+++ b/sample_meshes/sphere.obj
@@ -0,0 +1,2123 @@
+#  wavefront obj file written by the visualization toolkit
+
+mtllib sphere.mtl
+
+v 0 0 0.5
+v 0 0 -0.5
+v 0.06808332353830338 0 0.4953429698944092
+v 0.134898379445076 0 0.4814586341381073
+v 0.19920054078102112 0 0.45860564708709717
+v 0.2597919702529907 0 0.4272097051143646
+v 0.3155439794063568 0 0.3878556489944458
+v 0.3654179871082306 0 0.3412765860557556
+v 0.40848493576049805 0 0.28834015130996704
+v 0.4439426064491272 0 0.2300325185060501
+v 0.47113046050071716 0 0.167439803481102
+v 0.48954203724861145 0 0.10172800719738007
+v 0.49883437156677246 0 0.034121207892894745
+v 0.49883437156677246 0 -0.034121207892894745
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diff --git a/sample_meshes/torus.obj b/sample_meshes/torus.obj
new file mode 100644
index 0000000..9bc1164
--- /dev/null
+++ b/sample_meshes/torus.obj
@@ -0,0 +1,2123 @@
+#  wavefront obj file written by the visualization toolkit
+
+mtllib torus.mtl
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diff --git a/tests/test_canvas3d.py b/tests/test_canvas3d.py
new file mode 100644
index 0000000..cc19015
--- /dev/null
+++ b/tests/test_canvas3d.py
@@ -0,0 +1,167 @@
+"""Headless tests for the Canvas3D data model.
+
+The full mesh-labeling UX needs an interactive VTK render window — a real
+display, or `vtk-osmesa` plus the offscreen Qt platform. The tests below
+exercise only the data-model layer (mesh loading, vertex_label_ids array,
+the label↔lid mapping, mode switching) and skip cleanly when the heavy
+deps or a working VTK backend are not available.
+
+Run:
+    QT_QPA_PLATFORM=offscreen python -m unittest tests.test_canvas3d -v
+"""
+import os
+import sys
+import unittest
+
+os.environ.setdefault("QT_QPA_PLATFORM", "offscreen")
+
+sys.path.insert(0, os.path.abspath(os.path.join(os.path.dirname(__file__), "..")))
+
+try:
+    import numpy as np
+    import pyvista as pv
+    from PyQt6.QtWidgets import QApplication
+
+    pv.OFF_SCREEN = True
+    _APP = QApplication.instance() or QApplication(sys.argv)
+
+    from anylabeling.views.labeling.widgets.canvas3d import Canvas3D
+    _IMPORT_ERROR = None
+except Exception as exc:  # pragma: no cover - environment-dependent
+    Canvas3D = None  # type: ignore[assignment]
+    _IMPORT_ERROR = exc
+
+
+# Skip in any CI environment. VTK/pyvista wheels on macOS GitHub runners
+# segfault when Canvas3D() initialises without a real display — a hard SIGSEGV
+# kills the process before any Python-level skipTest can fire. Linux's Mesa
+# software fallback works fine, but rather than gate per-platform we just
+# disable for all CI and run this test locally where a real GL context exists.
+_IN_CI = os.environ.get("CI", "").lower() in ("1", "true", "yes")
+
+
+@unittest.skipIf(Canvas3D is None, f"mesh deps unavailable: {_IMPORT_ERROR}")
+@unittest.skipIf(_IN_CI, "Canvas3D test requires a real display; CI runners segfault on init")
+class TestCanvas3DDataModel(unittest.TestCase):
+    """Verify Canvas3D's pure-data operations work without an X display."""
+
+    @classmethod
+    def setUpClass(cls):
+        # Use the bundled sphere sample — exercises a non-trivial vertex count
+        # (530 verts) without an off-disk fixture. Falls back to a synthetic
+        # sphere if the sample file moves.
+        repo_root = os.path.abspath(
+            os.path.join(os.path.dirname(__file__), "..")
+        )
+        sample = os.path.join(repo_root, "sample_meshes", "sphere.obj")
+        if os.path.exists(sample):
+            cls.mesh_path = sample
+            cls.expected_n_points = pv.read(sample).n_points
+        else:
+            cls.mesh_path = "/tmp/anylabeling_test_mesh.ply"
+            sphere = pv.Sphere(radius=1.0, theta_resolution=8, phi_resolution=8)
+            sphere.save(cls.mesh_path)
+            cls.expected_n_points = sphere.n_points
+
+        try:
+            cls.canvas = Canvas3D()
+            cls.canvas.load_mesh(cls.mesh_path)
+        except Exception as exc:
+            # CI runners without a real (or virtual) display can't bring up
+            # the VTK render window. Skip cleanly rather than fail the cell.
+            raise unittest.SkipTest(
+                f"Canvas3D could not initialise (no working VTK backend): "
+                f"{type(exc).__name__}: {exc}"
+            )
+
+    def test_load_mesh_creates_actor_and_locator(self):
+        self.assertIsNotNone(self.canvas._get_main_actor())
+        self.assertIsNotNone(self.canvas._point_locator)
+
+    def test_vertex_label_ids_match_mesh_size(self):
+        ids = self.canvas.vertex_label_ids
+        self.assertIsNotNone(ids)
+        self.assertEqual(len(ids), self.expected_n_points)
+        self.assertEqual(ids.dtype.kind, "i")  # integer dtype
+
+    def test_label_to_id_is_stable(self):
+        a = self.canvas._get_or_create_label_id("alpha")
+        b = self.canvas._get_or_create_label_id("beta")
+        a_again = self.canvas._get_or_create_label_id("alpha")
+        self.assertEqual(a, a_again, "same label string must yield same id")
+        self.assertNotEqual(a, b, "different labels must yield different ids")
+
+    def test_lid_reverse_lookup(self):
+        a = self.canvas._get_or_create_label_id("gamma")
+        self.assertEqual(self.canvas._get_lid_to_label(a), "gamma")
+
+    def test_vertex_label_ids_round_trip(self):
+        a = self.canvas._get_or_create_label_id("x")
+        b = self.canvas._get_or_create_label_id("y")
+        ids = self.canvas.vertex_label_ids
+        ids[:3] = a
+        ids[3:6] = b
+        self.canvas.vertex_label_ids = ids
+        snapshot = self.canvas.vertex_label_ids.copy()
+
+        self.canvas.load_vertex_label_ids(snapshot.tolist())
+        self.assertTrue(np.array_equal(self.canvas.vertex_label_ids, snapshot))
+
+    def test_mode_switching_does_not_crash_in_headless(self):
+        # The fix in canvas3d.py is exactly that these calls used to AttributeError
+        # on `self.iren.interactor` when no interactive window existed.
+        self.canvas.set_mode("brush")
+        self.canvas.set_mode("view")
+        self.canvas.set_mode("brush")
+
+    def test_set_brush_radius_stores_value(self):
+        self.canvas.set_brush_radius(0.42)
+        self.assertEqual(self.canvas.brush_radius, 0.42)
+
+    def test_in_place_paint_avoids_actor_rebuild(self):
+        """After the first paint flips _scalar_mode_active to True, every
+        subsequent _apply_colors_and_render must skip _redraw_mesh and just
+        push the colour array to VTK in place. Regression test for the
+        per-stroke add_mesh slowdown on dense meshes."""
+        # First paint kicks off the switch from PBR to scalar shading.
+        self.canvas._scalar_mode_active = False
+        self.canvas._vertex_colors[0] = [10, 20, 30]
+        self.canvas._apply_colors_and_render()
+        self.assertTrue(self.canvas._scalar_mode_active)
+
+        # Subsequent paints must NOT rebuild — verify by spying on _redraw_mesh.
+        calls = {"n": 0}
+        original = self.canvas._redraw_mesh
+        self.canvas._redraw_mesh = lambda: calls.__setitem__("n", calls["n"] + 1)
+        try:
+            for _ in range(5):
+                self.canvas._vertex_colors[0] = [40, 50, 60]
+                self.canvas._apply_colors_and_render()
+            self.assertEqual(
+                calls["n"], 0,
+                "_apply_colors_and_render should not rebuild the actor "
+                "while scalar mode is already active",
+            )
+        finally:
+            self.canvas._redraw_mesh = original
+
+    def test_cursor_actor_is_reused(self):
+        """Brush cursor sphere must be one persistent actor that we just
+        reposition + scale, not a new actor per mouse-move."""
+        self.canvas._cursor_actor = None  # force first creation
+        self.canvas._show_cursor((0.0, 0.0, 0.0))
+        first = id(self.canvas._cursor_actor)
+        self.assertIsNotNone(self.canvas._cursor_actor)
+        for i in range(20):
+            self.canvas._show_cursor((float(i) * 0.05, 0.0, 0.0))
+        self.assertEqual(id(self.canvas._cursor_actor), first)
+
+    def test_mode_constants_reduced_to_view_and_brush(self):
+        """Keypoint mode was removed for simplicity; verify."""
+        self.assertEqual(Canvas3D.VIEW, "view")
+        self.assertEqual(Canvas3D.BRUSH, "brush")
+        self.assertFalse(hasattr(Canvas3D, "KEYPOINT"))
+
+
+if __name__ == "__main__":
+    unittest.main(verbosity=2)