> ## Documentation Index > Fetch the complete documentation index at: https://docs.cognite.com/llms.txt > Use this file to discover all available pages before exploring further. # Contextualize point clouds > Contextualize point clouds manually or using automated segmentation and object detection in CDF. You can contextualize point clouds in two ways: by manually creating each object you want to contextualize or by leveraging the point cloud's segmentation. You must use both services to achieve a fully contextualized point cloud. ## Before you start Make sure you have already uploaded the point cloud you want to contextualize. For more information on uploading point clouds, see [Upload 3D models](/cdf/3d/guides/3dmodels_upload) or [Upload point clouds with Python SDK](/dev/3d/api_asset_centric/upload_pointcloud). ## Get started Before contextualizing, you should filter and index the point cloud to generate tiles that you can use for object detection and accelerate the contextualization process. It's an automated process triggered by selecting the filter icon in your model's action column. 1. Select the point cloud model and select `...` > **Filtering and indexing**. 2. In the wizard, select the check box to generate tiles. 3. Select **OK** to start the process. Once the filtering and indexing are processed, trigger the object detection. The **Run classification** icon will now be enabled. 1. Select `...` > **Run classification**. 2. Enable both **Classification** and **Pipe detection**. 3. Select **Run**. Classification will perform semantic segmentation of the point cloud, while pipe detection will detect segments in the point clouds that resemble pipes. Once an object is detected, you will see an orange tag on the right, *suggested annotations* indicating how many objects were detected. ## Contextualize Once the filtering and detecting objects are ready, select the point cloud file, and select **Open** to start the contextualization process. This opens the point cloud, and you can contextualize within the 3D environment window. ### Tools in contextualization In the top navigation bar, there is a drop-down menu for all the suggestions. These are suggestions for classifications and pipes. After contextualizing, you will see a drop-down for all the contextualized objects. Use slicing to get a better overview of the model you are contextualizing. For example, you can slice your viewpoint below ceiling height. * You can turn on and off the highlights of the different suggestions of object types from the drop-down. To focus on contextualizing one object type at a time, select **Toggle annotation visibility** in the toolbar on the left to turn off the highlight for all other suggestions. * Select the crop box icon to create crop boxes and slice planes. You can create: * A vertical slice along the X and Y direction. * A vertical slice by selecting two points. * A horizontal slice by selecting a point. * A crop box by selecting four points. * Turn on and off X, Y, and Z axis directions using **Show or hide axis** in the toolbar. * Use the **Settings** icon to adjust the coloring of the points in the model. * You can also color the model by classification. Use the filter icon from the left toolbar. Enable **View classification** to view all or a selection of the classifications. * Select **Fit to view** to reorient yourself and reposition the camera view outside the model. * When you start the contextualization, you will see that the cursor icon is activated and blue. Use **Select Annotation** to select any detected object and annotations. * Select **+** (**Add annotation**) to add an annotation in the point cloud. * After adding an annotation, in the resource selector, use the **Filters** to refine the results. Use to sort and select columns. You can sort by name, object type, location and more. See [Search](/cdf/explore/search) for more information. * To zoom an annotation, select **Zoom to annotation**. ## Contextualize automatically detected objects To link an object to another asset: Navigate to **Suggestions** in the top bar and select an object. In the resource selector on the top right, select **Relink**. Use the search bar in the resource selector. Select the asset, verify it is correct, and select **+ Add**. You have contextualized the object. The annotation count and contextualization count show how many objects you annotated. ## Contextualize undetected objects Point clouds are sets of data points in a three-dimensional coordinate system. Each point in the cloud represents a specific position in space and can contain additional information like color or intensity. This means a point is not related to nearby points, and some objects might not be recognized. To contextualize a group of points as an object, you draw a shape around the points and contextualize that shape. To contextualize an undetected object: 1. Use the icon to add an annotation in the point cloud. 2. Select **+** (**Add annotation**) from the toolbar on the left. In the model, select where you want to contextualize the object. A blue cube will appear in the 3D view. To adjust the cube, use either: * **Translate (T)** will move the cube in the x, y, and z directions. * **Rotate (R)** will rotate the cube. * **Scale (G)** will scale the size of the box. After creating the shape, you can use the resource selector on the right to map an asset to the selected object. Use the search bar to find an existing asset. Select the asset, verify it is correct, and select **+ Add**. Select **Create annotation** in the toolbar at the bottom of the screen. ## Update or delete annotation In point clouds, you have a 1:1 relationship between assets and objects. This means you can only link one asset to a detected object. You can relink, update, or delete an annotation. ### Relink the object to a different asset Use the cursor tool and select the annotated object. Select **Relink** in the top right of the resource selector. Search for the asset you want to map to the selected object. Select **+ Add**. You have updated the annotation. ### Delete annotation To delete the annotation using **Annotations**: Open the **Annotations** dropdown. Search for the asset you want to delete. Hover over each annotation to see the highlighted objects. Select to delete the annotation. You have deleted the annotation.