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Editing Point Cloud for Bare Earth Model

Has anyone been able to find a free online software for editing a point cloud to produce a bare earth model? Pix 4D seems to be sort of cumbersome for editing a point cloud to this extent.

Dear Calen, 

You can have a look at our Classification Tool. It is still in beta, but will allow you to sort the points from the point cloud in two groups: object and terrain. You can then generate a Digital Terrain Model

Best regards,