Lazer scan colorization. How does it work?

[ilia]

Dear Metashape people,

I'm trying to colorize laser scan and in the meantime utilize trajectory I have processing raw LiDAR data.
Right now I can't say I fully understand how colorization works. It doesn't have an option to consider only N closest cameras. How does it work and how it selects cameras for colorization?

Consider we have a trajectory and we selected a point in our laser scan data. The given point should have a timestamp and by having this timestamp we should locate laser scanner position along the trajectory which was the source of this point (or closest point). Now after we defined scanner position for that point we can select several cameras closest to this derived scanner position and use them to colorize the point. Does it work this way? To me it seems as the most logical way to colorize point cloud by having a scanner trajectory and lazer scan data with timestamps.

Please, correct me if I'm wrong.

[ilia]

I must say the role of trajectory and its selection to LiDAR is not clear to me. To define the direction of normals? Inside/outside? Pluse some masking based on that and this is it?
I read documentation, I read articles for version 2.0 and 2.1. I can't say I understand fully if it is utilized for colorization or not.

It also doesn't allow you to select the specific trajectory during the import if you have any. It shows just "Trajectory" even if you have several of them in the chunk. For an example, when project textures from one model into another one it allows to select specific model.