> For the complete documentation index, see [llms.txt](https://stage-precision.gitbook.io/grid/llms.txt). Markdown versions of documentation pages are available by appending `.md` to page URLs; this page is available as [Markdown](https://stage-precision.gitbook.io/grid/spatial-interactive-experiences/building-an-interactive-tracking-project/connect-and-prepare-the-sensors.md).

# Connect and Prepare the Sensors

The first step in a spatial tracking project is to add the physical sensors to Grid Studio and verify that valid live data is being received.

Each physical sensor is represented by its own Sensor Object in the Project Tree. The exact connection parameters and available options depend on the sensor integration, but the basic workflow is the same:

**Add Sensor → Configure → Verify Connection → Configure Display → Create VBO Snapshot**

Optional sensor-level filters can also be applied before the data enters the shared Point Cloud Volume.

***

## Add the Sensor Object

Each physical sensor used by the project requires its own Sensor Object.

### Add a Sensor to the Project Tree

To add a sensor:

1. Right-click an empty area of the **Project Tree**, or click the **+** button.
2. Use the search field in the object list to find the Sensor Object that matches the connected device.
3. Select the object to add it to the project.

<div align="left"><figure><img src="/files/DAuNTIXQgvT0vjiBB5WO" alt="" width="268"><figcaption></figcaption></figure></div>

Grid Studio provides different Sensor Objects for different manufacturers and, in some cases, individual sensor families or types.

Always use the Sensor Object intended for the physical device you want to connect.

***

## Configure the Sensor

After the Sensor Object has been added, it is selected automatically and its settings are shown in the **Inspector**.

The Inspector tab containing the device-specific settings is named after the Sensor Object itself.

### Configure the Connection

Enter the connection information required by the sensor.

Depending on the integration, this may include:

* The IP address of the physical sensor
* The local network interface or IP address used by Grid Studio
* The sensor model or type
* Additional device-specific settings

<div align="left"><figure><img src="/files/qyMuXOCaXQus9p3kUJwQ" alt="" width="333"><figcaption></figcaption></figure></div>

The exact parameters vary between sensor integrations.

For detailed connection settings, supported models, and device-specific requirements, refer to the corresponding sensor page in the **Reference** section.

***

## Verify the Connection

After the required connection settings have been configured, the Sensor Object connects automatically. No separate connection step is required.

### Check the Connection Status

A successful connection can be verified in two places:

* In the **Project Tree**, the status indicator to the right of the Sensor Object name should turn green.
* In the **Inspector**, the current connection status is shown in the **General** tab.

As soon as valid sensor data is received, the live point cloud also becomes visible in the **Viewport**.

Use the point cloud as an additional visual check that the expected spatial data is being received.

At this stage, the point cloud is still positioned relative to the Sensor Object and has not yet been aligned with the physical project environment.

***

## Configure the Point Cloud Display

Before creating a reference snapshot, configure how the sensor's point cloud should appear in the Viewport.

Select the Sensor Object and open **Display** in the Inspector.

### Display the Point Cloud

The most useful settings during initial setup are:

* **Display VBO** — shows or hides the live point cloud.
* **Point Size** — controls how large individual points are drawn in the Viewport.
* **Colorize** — defines how the point cloud is colored.

`Display Sensor` can additionally be used to show or hide the sensor's Viewport mesh.

### Colorize the Point Cloud

Depending on the selected **Colorize** mode, the point cloud can be displayed in different ways.

**Distance** colors the points according to their distance from the sensor. **Min** and **Max** define the displayed distance range.

<div align="left"><figure><img src="/files/bjHQyPNNpisO2PjTukwg" alt="" width="563"><figcaption></figcaption></figure></div>

**Uniform** uses the Sensor Object's **Item Color** for all points. The Item Color can also be changed using the color picker in the Inspector header.

<div align="left"><figure><img src="/files/ehh98b8zbypemCVr50Lf" alt="" width="563"><figcaption></figcaption></figure></div>

**Source** visualizes point attributes provided by the sensor. Depending on the device, this can include information such as intensity, reflection, or color.

<div align="left"><figure><img src="/files/issAuzBYupVXqM76Brvo" alt="" width="563"><figcaption></figcaption></figure></div>

{% hint style="info" %}
The selected **Colorize** mode defines how sensor information is represented in the point cloud.

This is important when using filters in the Point Cloud Volume that operate on color or source-derived information. For example, filtering based on sensor intensity requires the Sensor Object to use **Colorize → Source** with the corresponding source data selected.

Changing Colorize does not change the spatial position of the measured points, but it can affect downstream processing that uses their color representation.
{% endhint %}

Using different colors for individual sensors is especially useful in multi-sensor projects and makes overlapping coverage much easier to understand.

***

## Create a VBO Snapshot

Before beginning alignment or reducing the live point cloud with filters, create a static reference of the environment.

A **VBO Snapshot** captures a single frame of the current sensor data together with its current colorization.

### Prepare the Snapshot Appearance

Configure the desired **Colorize** mode and color on the Sensor Object before creating the snapshot.

The snapshot's colorization cannot be changed afterwards.

Its point size can still be adjusted independently later.

### Create the Snapshot

To create a VBO Snapshot:

1. Right-click the **Sensor Object** in the Project Tree.
2. Select **Snapshot VBO** from the context menu.

<div align="left"><figure><img src="/files/H8Up4exeRQhBczYKwihG" alt="" width="269"><figcaption></figcaption></figure></div>

Grid Studio creates the VBO Snapshot as a child of the Sensor Object.

Because the snapshot is positioned relative to the Sensor Object, it follows the sensor when the sensor is moved or rotated during alignment.

{% hint style="success" %}
Create VBO Snapshots as early as possible and preferably while the tracked area is empty or contains as few people as possible. This provides a clean static reference of the surrounding environment.
{% endhint %}

The snapshot becomes especially useful later when Includes, Excludes, and filters begin removing points from the live point cloud. The original environment remains visible in the snapshot and can be used as a spatial reference.

### Adjust the Snapshot Point Size

The point size of a VBO Snapshot can be changed after it has been created.

1. Select the **VBO Snapshot** in the Project Tree.
2. Open **VBO Options** in the Inspector.
3. Adjust **Draw Point Size**.

<div align="left"><figure><img src="/files/cWgrWmKcgB8O5693wqUv" alt="" width="563"><figcaption></figcaption></figure></div>

***

## Configure Sensor-Level Filters

Sensor-level filters can optionally be used to process incoming measurements before they are passed into the shared Point Cloud Volume.

They affect only the individual Sensor Object.

### Add a Sensor Filter

To add a filter:

1. Select the **Sensor Object** in the Project Tree.
2. Open **Filter** in the Inspector.
3. Click the **+** button.
4. Select the required filter from the menu.

Filters are processed **from top to bottom** in the order shown in the list.

<div align="left"><figure><img src="/files/U1Cnp5at3NmelkKC1wQy" alt="" width="563"><figcaption></figcaption></figure></div>

Their processing order can be changed at any time by dragging a filter to a different position.

The available filters can differ between sensor integrations. Typical uses include restricting the useful measurement range or removing data that should not enter the shared processing pipeline.

{% hint style="info" %}
Sensor-level filtering is optional. Only add filters when they solve a specific problem in the incoming sensor data.

The same top-to-bottom processing principle is also used later for filter lists in the Point Cloud Volume.
{% endhint %}

For detailed information about available filters and their parameters, refer to the corresponding pages in the **Reference** section.

***

## Prepare All Sensors

Repeat the same process for every physical sensor that will contribute to the project.

Before continuing, verify that:

* Every physical sensor has a corresponding Sensor Object.
* The required connection settings are configured.
* The status indicator is green.
* Live point data is visible in the Viewport.
* The point-cloud display is useful for setup and debugging.
* A clean VBO Snapshot has been created where appropriate.
* Any required sensor-level filters have been configured.

The sensors are now connected and prepared, but they still need to be placed correctly inside the shared project coordinate system.

Continue with **Align the Sensors**.