# Licensing

To access the license manager of SpatialExplorer, view [**Tools->Licensing**](https://docs.phoenixlidar.com/spatialexplorer-8-and-9/user-interface/toolbars/tools/licensing). 

SpatialExplorer licenses can be either annual or perpetual. Annual licenses expire after 1-year and require renewal. Perpetual licenses never expire but require maintenance fees to be paid in order to get software updates.  

Each license contains grants. Grants enable specific functionality within the software. Shown below are the types of licenses offered and the functionality that they enable. 

## SpatialExplorer

Standard license for core software features. 

| **Data Acquisition** |                                                                                 |
| -------------------- | ------------------------------------------------------------------------------- |
| ***Grant Title***    | ***Functionality***                                                             |
| \*                   | Remote Rover Connection                                                         |
| \*                   | Vehicle Profile Management                                                      |
| \*                   | Sensor acquisition setting configurator                                         |
| \*                   | Sensor calibration management                                                   |
| \*                   | IMU installation configurator                                                   |
| \*                   | Real-time sensor control                                                        |
| \*                   | Real-time GNSS satellite monitor                                                |
| \*                   | Real-time IMU data monitor                                                      |
| \*                   | Real-time systems monitor                                                       |
| \*                   | Real-time Point cloud viewer                                                    |
| \*                   | Real-time data measurements                                                     |
|                      |                                                                                 |
| **Data Processing**  |                                                                                 |
| ***Grant Title***    | ***Functionality***                                                             |
| \*                   | Coordinate system manager                                                       |
| \*                   | Create local transform                                                          |
| \*                   | Flightline manager                                                              |
| \*                   | MTA resolution                                                                  |
| \*                   | Raw data Fusion                                                                 |
| \*                   | Project Tiling                                                                  |
| \*                   | Colorization - basic                                                            |
| \*                   | Interactive Point Selections                                                    |
| \*                   | QC - 3D Point cloud viewer                                                      |
| \*                   | QC - Cross section viewer                                                       |
| \*                   | QC - Measurements                                                               |
| \*                   | Manage Reference Stations (in LiDARMill)                                        |
| \*                   | Show sun position                                                               |
| \*                   | Show compass                                                                    |
| \*                   | Show OSM base map                                                               |
| export-data          | Export processed data (LAS, LAZ, SHP, DXF, etc.)                                |
| import-recon         | Decoding raw data from RECON & RESEPI that are associated with a user's account |

\* Grant currently not required

## SpatialPro

A SpatialExplorer module that adds calibration, analytics, and reporting tools. This includes LiDARSnap, CameraSnap, classification tools, advanced colorization tools, vector/raster product generation tools, and report generation. 

| **Data Processing**           |                                                       |
| ----------------------------- | ----------------------------------------------------- |
| ***Grant Title***             | ***Functionality***                                   |
| lidarsnap-v4                  | LiDARSnap - Sensor calibration                        |
| lidarsnap-v4                  | LiDARSnap - Trajectory Optimization                   |
| lidarsnap-v4                  | LiDARSnap - Constrain adjustments with GCP            |
| lidarsnap-v4                  | LiDARSnap - Adjust to a control point cloud           |
| camerasnap-v1                 | CameraSnap - Sensor Calibration                       |
| camerasnap-v1                 | CameraSnap - Individual Pose Correction               |
| camerasnap-v1                 | CameraSnap - Manual feature matching                  |
| colorize-project-advanced     | Colorization - Advanced                               |
| colorize-ortho                | Colorization using an orthomosaic                     |
| adjust-to-gcp                 | Adjust to Control - vertical and/or horizontal debias |
| create-report                 | Automated QC Reporting                                |
| classify-by-class             | Auto Classify - Points                                |
| classify-noise                | Auto Classify - Noise                                 |
| classify-ground               | Auto Classify - Ground                                |
| classify-powerlines           | Auto Classify - Powerlines                            |
| classify-statistical-outliers | Auto Classify - Statistical Outlier Removal           |
| classify-moving-objects       | Auto Classify - Moving Objects                        |
| classify-on-selection         | Interactive Classify - On Selection                   |
| create-maps                   | Create - Maps                                         |
| create-contours               | Create - Contours                                     |
| create-maps                   | Create - Floor Plans                                  |
| create-mesh                   | Create - Mesh                                         |
| compute-normals               | Compute - Normals                                     |
| compute-height-above-ground   | Compute - Height Above Ground                         |
| compute-socs                  | Compute - SOCS                                        |
| compute-cloud-distance        | Calculate Distance                                    |
| resample-cloud                | Resample Cloud - Delaunay                             |
| cloud-clean                   | CloudClean                                            |
| import-lidar                  | Import LiDAR (importing sdc, sdcx, ...)               |
| import-cloud                  | Import .las/laz                                       |
| export-pix4d                  | Export PIX4D .dat                                     |

## NavLab Embedded

A SpatialExplorer module that allows for offline GNSS+INS trajectory processing.

| **Data Processing** |                                          |
| ------------------- | ---------------------------------------- |
| ***Grant Title***   | ***Functionality***                      |
| \*                  | Manage Reference Stations (in LiDARMill) |
| \*                  | Compute Reference Station Position       |
| ie-license-key      | Estimate Primary Antenna Lever Arm       |
| ie-license-key      | Differential GNSS Processing             |
| ie-license-key      | INS Loosely / Tightly Coupled Processing |
| ie-license-key      | Automated Trajectory QC Report           |

\*  Grant currently not required

## SLAM

A SpatialExplorer module that enables SLAM (simultaneous localization and mapping) processing through GNSS denied environments.

| **Data Processing** |                                                             |
| ------------------- | ----------------------------------------------------------- |
| ***Grant Title***   | ***Functionality***                                         |
| slam-postprocessing | Hybrid SLAM - Automatic georeference with available GNSS    |
| slam-postprocessing | Automatic loop closure                                      |
| slam-postprocessing | Pre-configured dynamics profiles (Pedestrian, mobile, etc.) |
| slam-postprocessing | Interactive optimization to control                         |

## MissionGuidance

A SpatialExplorer module that provides live flight navigation for piloted airborne and mobile vehicle operations.

| **Data Acquisition** |                                      |
| -------------------- | ------------------------------------ |
| ***Grant Title***    | ***Functionality***                  |
| mission-guidance     | Pilot Navigation Display             |
| mission-guidance     | Velocity, Heading, Elevation Monitor |
| mission-guidance     | Remaining time estimates             |
| mission-guidance     | Automatic flight line scheduling     |
| mission-guidance     | Interactive flight line scheduling   |
| mission-guidance     | Configurable tolerances              |
| agl-oracle           | Real-time height above ground        |