> 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/workflow-kk/data-products/pointcloud.md).

# Pointcloud

Access the following tools by clicking on the **Create** drowndown under the [pointcloud "Edit" tab](https://docs.phoenixlidar.com/lidarmill-desktop/user-interface/windows/project-management-window/point-clouds#edit)

![](/files/Qmz0w0dVZmNvminTnA2y)

## Smart Decimation

![](/files/QYq2odUTEHehoxZyGHnu)

Fits a mathematical model of a surface to the original points of the point cloud, with the aim of representing the true surface as best as it can, by excluding ranging noise. 

**Output Mode:**  Choose between created *Decimated*, *Projected*, or both clouds

**Points per Square Meter:** Target point density for the output cloud. Used only with *Decimated* mode.

**Uniform Prefilter Kernel:** Used to filter input data. For good sensors keep this around 1cm and for noisier sensors try 5-10cm.

**Near Voxel Search:** Lookup radius nearby voxels. Increase to sacrifice uniformity for quality. 

**Uniformity:** A value of 1 will try to maximize uniformity, 0 means to only listen to the cost function. 

**Create smart-decimated cloud:** Given point density, algorithm picks points that are nearest to the computed surface. It then keeps original points from the cloud, but discards the points furthest away from computed surface.

![Profile Cross Section: Original pointcloud (Red) Vs Decimated pointcloud(Green)](/files/N8TFgpNhcGYJIRqVGRjc)

**Create smart-projected cloud:** Projects every original point to a computed surface. It keeps all the points from the cloud, but moves or 'projects' them to the computed surface.

![Profile Cross Section: Original pointcloud (Red) Vs Projected pointcloud (Blue)](/files/Bwydq07kGLgLRIgPyZG9)

## Colorize by Normal

Used to compute and visualize surface normals within a pointcloud.

Configure Nearest Neighbours value (default recommended) and click **OK** to begin processing

![](/files/BdPhj94oo5dvD03sli4D)

After Normals are computed, they are currently written to the Normals attribute of the pointcloud. 

![Pointcloud colored by Normals](/files/CRhxrS76RtcpxazuIoJY)

## Resample Cloud (Delaunay)

Resample Cloud is used to create a resampled cloud at a specified resolution or **Grid Stride**.

Click on **Resample Cloud (Delaunay)**

Specify desired parameters for the resampled cloud:

* Grid Stride \[m]
* Desired point class

Click **OK** to create resampled cloud.

![](/files/-Ma52PPySaA2mSJOUlnk)

## Compute Height Above Ground

Compute **Height Above Ground** is used to write height above ground information into the pointcloud.

Height above ground information needs to be written into pointcloud before it can be visualized within the [pointcloud visualization tab](https://docs.phoenixlidar.com/lidarmill-desktop/user-interface/windows/project-management-window/point-clouds#visualization), a [ground classification](https://docs.phoenixlidar.com/lidarmill-desktop/post-processing/workflow-kk/classification/find-ground-ptd) is required prior to using this tool.

* Specify Pixel size \[in meters]:
* Click "OK" to write height above ground information into the pointcloud

![](/files/-Ma5JYSlStCHHKhVfU53)

## Backup

Backup is used to create a backup pointcloud CLOUD file.  Specify output filename and click **Save**.

![](/files/-Ma5LBop2vVMvbS6OtEN)