# LiDAR Calibration

## Summary

Once the cloud has been created, the user can implement SpatialExplorers' **LiDAR Snap** to calibrate the LiDAR sensor and to **optimize the trajectory** to create the most geospatially accurate point cloud possible. 

LiDAR Snap requires the user to have a **Pro License**.    

## Details

LiDAR Snap enables the user to implement multiple methods of calibration for collected LiDAR data.  

[Calibration](https://docs.phoenixlidar.com/lidarmill-desktop/user-interface/windows/project-management-window/lidars/ldr-x#calibration) of the LiDAR cloud through **mounting corrections**, **per-laser intrinsic and extrinsic**, **trajectory optimization**, and **adjustment to ground control** are all possible in a user defined combination.  

While all Phoenix LiDAR Systems hardware packages come boresighted, LiDAR Snap allows for **boresight corrections** to be computed by the user through calibration of fine orientation adjustments, sensor-specific z translations, and tilt angle shift calibrations.

![Point cloud changing from an uncalibrated cloud to a fully calibrated cloud colored by elevation](https://lh3.googleusercontent.com/RrTAkWxhYPGJf5oc1iVWrRjP3AY9qH9SzktSrh1VJK1YT4nEcUpLYFr13CH5ky9wQlANHggBeus3dxYts1X9scqH7gCEiZQ4E5Iory2dks5CNebWc8gN6pKht9tpmTLkOhXm8Um2mDk)


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