# Pointclouds

All pointclouds in a project will have any entry in the project window. The pointcloud menu belonging to each cloud has **Visualization** and **History** tabs, as well as various **Tools** at the bottom of the menu.

## Creating and Saving CLOUD Files

The cloud file (.cloud), is a Phoenix LiDAR proprietary pointcloud format (for exporting to LAZ, see the [Export menu](/spatialexplorer-8-and-9/user-interface/toolbars/workflow/export.md)). Clouds are initially created using the [Create Cloud](/spatialexplorer-8-and-9/user-interface/toolbars/workflow/create-cloud.md) tool, or by [Playback ](/spatialexplorer-8-and-9/user-interface/windows/project-player.md)fusing. 

After a cloud is created, it can be modified. Some cloud modifications automatically save during their processing, such as colorization or ground classification. Other changes, like trajectory optimization, result in a recomputed cloud that contains changes which are not written to disk. More information about recomputing is located in the [Tools](#tools) section of this page

A cloud has changes which are not written to disk whenever the cloud appears in an italicized, bold font with an asterisk next to the name:

<figure><img src="/files/tDfaLJBoQwuEqe0lV2qO" alt=""><figcaption></figcaption></figure>

To commit the changes, and save the cloud's current state to disk, simply use **File->Save**. All committed changes can be viewed in the cloud's[ **History**](#history) tab.&#x20;

## Visualization

The Visualization tab can be used to adjust the attribute(s) used to visualize the cloud:

<figure><img src="/files/oEH0rvleUt2Pe0m30iBj" alt=""><figcaption></figcaption></figure>

The visualization can be adjusted using the **C** and **V** sliders, which stand for ***color*** and ***visibility***. Adjusting the **visibility** slider will change which points are visible, based on the attribute being modified. Adjusting the **color** slider will change the start and end attribute values associated with the start (blue) and end (red) of the color ramp.&#x20;

**Update Histograms from Cloud** may be necessary when the cloud has been recomputed and the attribute visualization no longer reflects the current state of the cloud. This is also used to load attributes when a cloud is imported from an LAZ.&#x20;

{% hint style="info" %}
Points hidden using the Visualization tab's sliders and drop downs will still be selected when using spatial [selection tools](/spatialexplorer-8-and-9/user-interface/toolbars/data-visualization.md) (polygon, above-line, below-line). For advanced classification based on point attributes (intensity, height above ground, etc.), please refer to the [Cloud Script Tool](/spatialexplorer-8-and-9/user-interface/toolbars/data-visualization/cloud-script-tool.md).&#x20;
{% endhint %}

### Example: MTA Uncertainty

Newly created point clouds will now show both certain and uncertain points as determined by the 'disambiguate LiDAR ranging' tool.

This applies to all Ranger Systems using SpatialExplorer 9.0.2 onwards.

MTA uncertainty is a new visualization attribute:&#x20;

* 0 for certain points are visualized blue by default.
* 1 for uncertain points are visualized red by default.

<figure><img src="/files/7uIJNFDGd8YRfT8eaQkI" alt=""><figcaption><p>Uncertain points are visualized red by default.</p></figcaption></figure>

If you want to classify these out as noise, you can use the Edit Cloud Script tool to select these points, then the Classify by Class tool to class them all as noise.

{% tabs %}
{% tab title="Cloud Script" %}

<figure><img src="/files/dOMDDvzrIjgzhztGVw6q" alt=""><figcaption><p>The MTA uncertain points will become highlighted once you click 'OK'</p></figcaption></figure>
{% endtab %}

{% tab title="Classify as Noise" %}

<figure><img src="/files/tfR369lgPuwTgRkBXKFL" alt=""><figcaption><p>Classify by Class on the highlighted uncertain point</p></figcaption></figure>
{% endtab %}

{% tab title="Confirm Classification" %}

<figure><img src="/files/54W7MmC1rjFtSo2kKvvW" alt=""><figcaption><p>You can now deselect the 07 noise class under the classification attribute to remove these points from future visualizations.</p></figcaption></figure>
{% endtab %}
{% endtabs %}

## History

The **History** tab shows committed changes to the cloud. You can **View Commits**, or **Reset to Commit**, which resets the state of the cloud to the selected commit.&#x20;

<figure><img src="/files/a8LweARqC8TRxXU2gJmK" alt=""><figcaption></figcaption></figure>

{% hint style="warning" %}
**Reset to Commit** is useful when changes to a cloud need to be reverted.
{% endhint %}

## Tools

* <img src="/files/Y8vkyPSjB21jkcCZUM6t" alt="" data-size="line"> Recompute Cloud: This tool recomputes all points' positions within the cloud based on the current active trajectories, vehicle->IMU transform, and IMU->sensor transforms. Changes created when recomputing are not initially written to disk, and must be written via File->Save, if desired.&#x20;
* <img src="/files/ObXnZqghButkFNX6YoI7" alt="" data-size="line"> Inspect Cloud: View detailed information about the cloud file stored on disk.
* <img src="/files/nqn3bix0Xa85Th5I65zl" alt="" data-size="line"> Delete cloud: Removes cloud from the project (PLP).&#x20;

{% hint style="info" %}
**Recompute Cloud** tool allows users to quickly experiment with different trajectories and sensor calibration settings, without having to re-fuse a pointcloud.&#x20;
{% endhint %}

## Cloud Groups

When creating a cloud using the [**Create Cloud** ](/spatialexplorer-8-and-9/user-interface/toolbars/workflow/create-cloud.md)tool, you have the option to create a single cloud or fuse to a grid. When fusing to a grid, one cloud file will be created per grid cell:

<figure><img src="/files/5fimLZUCNgT6KHFFcBh3" alt=""><figcaption></figcaption></figure>

To open a cloud group, **File->Open** one of the cloud files, and SpatialExplorer will automatically open the remainder of the group.&#x20;

When working with data sets that cover a large spatial area (greater than 2 sq. km or 500 acres), it's best to use a cloud group, rather than a single cloud. The most notable advantage to processing with a cloud group is faster processing speeds with classification routines (such as Classify Ground).&#x20;

Working with cloud groups is essentially the same as working with a single cloud, and the only difference to the user is the presence of many CLOUD files on disk.&#x20;


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