> For the complete documentation index, see [llms.txt](https://docs-7.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-7.phoenixlidar.com/lidarmill-desktop/introduction/how-to-use-spatialexplorer.md).

# How to use SpatialExplorer

SpatialExplorer can be used to process various types of raw lidar data, as well as process LAS/LAZ files. If you are trying to acquire data, rather than process existing data, please see the[ Data Acquisition Theory and Workflow](/rover/theory-and-workflow.md) section. This guide covers only SpatialExplorer processing - LiDARMill users should refer to the [LiDARMill quick start guide](/lidarmill-cloud/quick-start-guide.md). 

Use the guide below to determine what type of processing you require:

### Processing raw lidar data from a Phoenix system

This option applies to most Phoenix LiDAR Systems customers. Customers should follow either the [airborne lidar workflow ](/lidarmill-desktop/post-processing/airborne-lidar-workflow.md)or the [mobile lidar workflow](/lidarmill-desktop/post-processing/mobile-lidar-workflow.md). RECON customers will need to first [decode their DATA files](/lidarmill-desktop/workflow-kk/uploading-files/decoding-recon-data.md) before proceeding with the processing workflow mentioned above. 

Files required: `PLP, RXP/LDR, NAV, DATA`

### Processing raw lidar from a Riegl/Applanix system

Coming soon! This option only applies to users who have a Riegl-Applanix-based system.  This option **does not apply** to Phoenix systems that integrate Riegl scanners (Ranger, miniRanger).

Files required: `RPP, RXP, SBET, POF`

### Processing raw lidar from a RESEPI or Rock Robotic lidar system

SpatialExplorer can process the raw DATA files produced by RESEPI and Rock Robotic lidar systems. Customer's will need to transfer their trajectory processing license out of PCMaster in order to make use of SpatialExplorer's embedded trajectory processing. Customer's should first [decode their DATA files](/lidarmill-desktop/workflow-kk/uploading-files/decoding-recon-data.md), then follow either the airborne or mobile lidar workflow.

Files required: `DATA` 

### Processing LAS/LAZ files 

SpatialExplorer can be used to classify and optimize LAS/LAZ point clouds. Trajectory optimization, also referred to as strip matching, will require a trajectory to be imported in addition to the LAS/LAZ file (POF, SBET, CTS/CLS). Classification (Noise, ground, manual classification) can be performed in SpatialExplorer without a trajectory. 

Users interested only in classification can simply [import the LAS](/lidarmill-desktop/user-interface/tool-reference/import-las-laz.md) and experiment with classification options, such as [filters](/lidarmill-desktop/workflow-kk/classification.md) (ground and noise) and [manual classification tools](/lidarmill-desktop/user-interface/windows/classify-on-selection.md). 

Users interested in utilizing LiDARSnap for trajectory optimization or sensor calibration will need to [import a trajectory ](/reports/trajectory-report.md)and [Compute SOCS](https://docs.phoenixlidar.com/lidarmill-desktop/user-interface/windows/project-management-window/point-clouds#compute-socs). Computing SOCS redefines the points in the cloud from a global coordinate system (e.g. WGS84) to a scanner-based coordinate system, which makes sensor calibration and trajectory optimization possible. 

Files required: `LAS, LAZ, SBET, POF`