> 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/post-processing/airborne-lidar-workflow.md).

# Airborne Lidar Workflow

1. If using a RECON system, first [decode the DATA files](/lidarmill-desktop/workflow-kk/uploading-files/decoding-recon-data.md).
2. Open the PLP file. If imagery was acquired, [ensure images are present](/lidarmill-desktop/workflow-kk/uploading-files/imagery.md) in the Cam0 folder. After opening the PLP file, [select a CRS](/lidarmill-desktop/workflow-kk/project-setup.md) for the project.
3. If working with data from a Riegl lidar scanner, [convert the RXP files to SDCX files](/lidarmill-desktop/workflow-kk/uploading-files/lidar.md).
4. [Import a processed trajectory](/lidarmill-desktop/workflow-kk/uploading-files/trajectory.md) (CTS, CLS, SBET, POF). If you do not yet have a processed trajectory, produce one using either InertialExplorer, [NavLab embedded](/lidarmill-desktop/workflow-kk/trajectory-processing/inertial-explorer-trajectory-upload.md), or [NavLab via LiDARMill](/lidarmill-cloud/workflow/processing-tools/navlab-pipeline.md). 
5. [Import ground control points ](/lidarmill-desktop/workflow-kk/ground-control/ground-control-points-gcps.md)(if available).
6. Configure [processing settings](/lidarmill-desktop/workflow-kk/create-a-cloud/configure-lidar-processing-parameters.md) for the lidar.
7. [Create processing intervals](/lidarmill-desktop/workflow-kk/create-a-cloud/automatic-intervals.md) (these intervals will also apply to imagery).
8. [Create a point cloud](/lidarmill-desktop/workflow-kk/create-a-cloud/create-cloud.md).
9. Visually check lidar relative accuracy and determine what degree and type of optimization needs to be performed. Consider reviewing trajectory accuracy reports to determine what trajectory parameters (X,Y,Z,yaw, pitch, roll) require optimization. 
10. Run [LiDARSnap](/lidarmill-desktop/workflow-kk/lidarsnap-v4.md) and optimize for necessary parameters. Typically the LiDARSnap Aerial Trajectory Optimization preset works well. 
11. If ground control is available, [compute residuals](/lidarmill-desktop/workflow-kk/ground-control/adjusting-automatically-to-gcps-vertical-only.md) from point cloud to control points to determine what adjustment, if any, is needed to match lidar elevations to ground control elevations.
12. [Activate images](/lidarmill-desktop/workflow-kk/colorization-of-point-clouds/enabling-and-disabling-images.md) along processing intervals.
13. Calibrate the camera using [CameraSnap](/lidarmill-desktop/workflow-kk/camera-snap/camera-calibration-with-aerial-data-sets.md). If necessary, enable per-pose orientation corrections to compute attitude corrections specific to each image. 
14. Colorize the point cloud using[ CloudColorizer](/lidarmill-desktop/workflow-kk/colorization-of-point-clouds/colorization-using-aerial-imagery.md).
15. Generate accuracy [reports](/lidarmill-desktop/workflow-kk/export-cloud/reports.md).
16. Generate deliverables such as [rasters](/lidarmill-desktop/workflow-kk/data-products/create-maps.md) (RGB raster, DTM, DEM) and [vector deliverables](/lidarmill-desktop/workflow-kk/data-products/create-contours.md) (contours and meshes).