> For the complete documentation index, see [llms.txt](https://docs.phoenixlidar.com/llms.txt). Markdown versions of documentation pages are available by appending `.md` to page URLs; this page is available as [Markdown](https://docs.phoenixlidar.com/lidarmill-cloud/workflow/processing-tools/pointcloud-optimization-pipeline.md).

# Pointcloud Optimization Pipeline

The **Pointcloud Optimization** pipeline is designed for processing LAZ/LAS files. This pipeline takes in an input LAS/LAZ, performs classification routines (noise and ground), and then generates deliverables, such as surfaces and raster products. This pipeline can also calibrate point clouds, using either sensor calibration and/or trajectory optimization ("strip alignment") routines if an input trajectory is provided. 

{% hint style="info" %}
Many of the options for starting a Pointcloud Optimization pipeline are very similar to the SpatialFuser options.
{% endhint %}

## Pointcloud Optimization Pipeline

Navigate to the pipelines tab of LiDARMill and select a **Pointcloud Processing** pipeline:

<figure><img src="/files/l6X64tq7dyvQG4J7CLIu" alt=""><figcaption></figcaption></figure>

First, you will need to specify the **Sensor Model**:

<figure><img src="/files/zB4oFBDGGdYDZtwIt2Vk" alt=""><figcaption></figcaption></figure>

{% hint style="info" %}
Specifying the correct sensor model is necessary if you wish to calibrate the sensor, otherwise you can leave it set to **Generic**.&#x20;
{% endhint %}

You should specify an IMU orientation. If you do not know the IMU orientation, you can leave the values set to 0, as shown below.:

<figure><img src="/files/zIryeRRlH4BqnRW6xEzR" alt=""><figcaption></figcaption></figure>

Flightlines can be defined similarly to the [SpatialFuser workflow](/lidarmill-cloud/workflow/processing-tools/spatial-fuser-pipeline.md#flightlines):

<figure><img src="/files/e9Zu8ktaDy1bE9jIv97Y" alt=""><figcaption></figcaption></figure>

Define what optimization you would like to perform. Refer to the SpatialFuser documentation for a [description of optimization parameters](/lidarmill-cloud/workflow/processing-tools/spatial-fuser-pipeline.md#optimization).

<figure><img src="/files/Pq4jz4xxGYPGPHX9qsCk" alt=""><figcaption></figcaption></figure>

Specify an output coordinate system:

<figure><img src="/files/uBXgZ4Jxs26c8LK0eriV" alt=""><figcaption></figcaption></figure>

Lastly, specify the output products to generate:

<figure><img src="/files/n2bmCk33CIfcm9eUSW31" alt=""><figcaption></figcaption></figure>

Note that LiDARMill will always generate project and processing reports, which contains metrics on accuracy and other processing results.