# lasgrid

This tool reads LIDAR from LAS/LAZ/ASCII and grids them onto
a raster. The most important parameter '-step n' specifies the
n x n area that of LiDAR points that are gridded on one raster
(or pixel). The output is either in BIL, ASC, IMG, TIF, PNG,
JPG, XYZ, CSV, or DTM format. Optional it is possible to write
a LAZ file with arguments "-olaz" or "-o file.laz". 
The tool can raster '-elevation' or '-intensity' of each point 
and can compute the '-lowest' or the '-highest', the '-average', 
or the standard deviation '-stddev', as well as the '-range'.

Other gridding options are '-scan_angle_abs', '-scan_angle',
'-point_density', '-point_density_16bit', '-point_density_32bit', 
'-counter', '-counter_16bit', '-counter_32bit', '-user_data',
'-point_source', '-rgb', '-number_returns' and more. See the
end for a complete list. Additional attributes that some LAS
or LAZ files sometimes store as "Extra Bytes" can be gridded
with '-attribute 0' or '-attribute 1' or '-attribute 2' ...

Sometimes vendors will cut off clouds or haze in the data in
airborne surveys before delivering the data. Often the return
below the clouds will usually be of lower quality. Areas with
missing first returns can be found by gridding '-return_type'
with option '-highest'. Areas with missing last returns can be
found by gridding '-return_type' with option '-lowest'. Using
a '-false' coloring makes it easy to spot afected areas. 

This tool can read BILLIONS of points very efficiently. By
default it uses only 1000MB of main memory. You can increase
this with the '-mem 2000' option to up to 2 GB. The tool
pages larger rasters out to disk. If you have a second hard
drive it is beneficial to use this instead. You can specify
the temporary file location with '-temp_files E:\temp\temp'.

For BIL, ASC, IMG, DTM, and XYZ output one typically stores
the actual (elevation, intensity, ...) values whereas for TIF,
PNG, and JPG one usually chooses to express the variation with
'-gray' or with '-false' colors for simple visualizion. Here
the variation can be limited with '-set_min_max 10 100' to a
particular range or it can be set to '-compute_min_max'. The
color scheme can also be inverted with '-invert_ramp'

Optionally, a KML file is generated that allows the resulting
raster  to be immediately displayed inside a geospatial context
provided by Google Earth (for TIF/PNG/JPG images). In case the
LAS/LAZ file contains projection information (i.e. geo keys
as variable length records) this metadata is used to correctly
geo-reference the KML file. It is also possible to provide the
proper geo-referencing information in the command-line.

By default the generated raster spans the extend of all LiDAR
points. It is possible to specify this to be identical to the
bounding box with '-use_bb' or the bounding box of the tile
with '-use_tile_bb' (the latter only if the LAS/LAZ file was
generated using lastile). The extend can also be defined by
setting '-ll min_x min_y' plus '-ncols 512' and '-nrows 512'.

Use '-subsample n' with n > 1 to anti-alias "hard" gridding of
LiDAR points by their x and y coordinate into disjunct rasters.
The option '-subsample 3' adds each LiDAR point 9 times to the
raster at locations (x/y), (x+0.33*step/y), (x+0.66*step/y),
(x/y+0.33*step) (x+0.33*step/y+0.33*step) (x+0.66*step/y+0.33*step),
(x/y+0.66*step) (x+0.33*step/y+0.66*step) (x+0.66*step/y+0.66*step)
and thereby "washes out" hard boundaries. Obviously, this will
lead to wrongful increase in the '-counter' counters, but the
'-averages', '-highest', '-lowest', and '-stddev' will have less
aliasing

It is also possible to "thicken" your points as you thin them
to simulate a diameter for the laser beam. The '-subcircle 0.1'
option will replicate each point 8 times in a discrete circle
with radius 0.1 around every original input point. This makes
sense in combination with '-highest' in order to create a nice
set of points for subsequent CHM or DSM construction. By adding
a second value '-subcircle 0.2 -0.05' you can lower or raise the
z value of the 8 points on the discrete circle by the specified
amount, here they would be 0.05 units lower than the original,
which might be useful for subsequent tree top detection.


## Examples

    lasgrid64 -i *.las -opng -step 5 -false -sp83 OH_N

rasters for each *.las files the lowest elevation of all points
that fall into cells of size 5 by 5, stores the resulting grid
in PNG format using false coloring, and creates a KML file that
maps the PNG to state plane NAD83 of Northern Ohio.


    lasgrid64 -i *.txt -iparse xyz -oasc -step 2 -highest

rasters for each *.txt files the highest elevation of all points
that fall into cells of size 2 by 2 and stores the resulting grids
in ASC format.


    lasgrid64 -i lidar1.las lidar2.las lidar3.las -merged -o dem.bil -step 4 -highest -intensity

merges the points of lidar1.las lidar2.las lidar3.las and rasters
the highest intensity of all points that fall into cells of size 4
by 4 and stores the resulting grid in BIL format.


    lasgrid64 -v -i lidar.las -o dem.png -step 5 -false -stddev -utm 14T

rasters the standard deviations of the elevation of all points that
fall into cells of size 5 by 5 and stores the resulting grid in PNG
format using false coloring and creates a KML file that maps the file
to UTM zone 14


    lasgrid64 -v -i lidar.las -o dem.jpg -last_only -false -highest -step 2

rasters the highest elevation from all points that fall into cells of
size 2 by 2 units and are classfied as last returns and stores the
resulting grid in JPG format using false elevation coloring


    lasgrid64 -v -i lidar.las -o dem.tif -keep_class 2 -keep_class 3 -gray

rasters the lowest elevation from all points that fall into cells of
size 1 by 1 unit and are classfied as 2 or 3 and stores the resulting
grid in TIF format using gray-scale elevation coloring


    lasgrid64 -v -i lidar.las -o dem.asc -step 2 -average

rasters the average elevations from all points that fall into cells of
size 2 by 2 units and stores the resulting grid in ASC format.


    lasgrid64 -v -lof lidar_files.txt -merged -o merged.bil -step 10

rasters the lowest elevation from all points of all files listed in
lidar_files.txt that fall into cells of size 10 by 10 units and stores
the resulting grid in BIL format with 32 bits floats.


    lasgrid64 -v -lof lidar_files.txt -obil -step 10

rasters the lowest elevation for each file listed in lidar_files.txt
individually that fall into cells of size 10 by 10 units and stores
each resulting grid in BIL format with 32 bits floats.

the following commands generate some interesting georeferenced grids that
you can look at in Google Earth by double clicking the generated KML file

    lasgrid64 -i ..\data\test.las -false -o test.png
    lasgrid64 -i ..\data\TO_core_last_zoom.las -gray -o toronto.png -utm 17T
    lasgrid64 -i ..\data\SerpentMound.las -false -o SerpentMound.png


lasgrid64 -v -sp83 OH_S -feet -i s1885565.laz -step 10 -gray -o elev_low.png  
lasgrid64 -v -sp83 OH_S -feet -i s1885565.laz -step 10 -gray -o elev_high.png -highest  
lasgrid64 -v -sp83 OH_S -feet -i s1885565.laz -step 10 -gray -o elev_std.png -stddev  
lasgrid64 -v -sp83 OH_S -feet -i s1885565.laz -step 10 -gray -keep_class 2 -o elev_grnd_low.png  
lasgrid64 -v -sp83 OH_S -feet -i s1885565.laz -step 10 -gray -keep_class 2 -o elev_grnd_low_fill.png -fill 5  
lasgrid64 -v -sp83 OH_S -feet -i s1885565.laz -step 10 -gray -keep_class 2 -o elev_grnd_std_fill.png -stddev -fill 5  
  
lasgrid64 -v -sp83 OH_S -feet -i s1885565.laz -step 10 -false -o elev_f_low.png  
lasgrid64 -v -sp83 OH_S -feet -i s1885565.laz -step 10 -false -o elev_f_high.png -highest  
lasgrid64 -v -sp83 OH_S -feet -i s1885565.laz -step 10 -false -o elev_f_std.png -stddev  
lasgrid64 -v -sp83 OH_S -feet -i s1885565.laz -step 10 -false -keep_class 2 -o elev_f_grnd_low.png  
lasgrid64 -v -sp83 OH_S -feet -i s1885565.laz -step 10 -false -keep_class 2 -o elev_f_grnd_low_fill.png -fill 5  
lasgrid64 -v -sp83 OH_S -feet -i s1885565.laz -step 10 -false -keep_class 2 -o elev_f_grnd_std_fill.png -std -fill 5  
  
lasgrid64 -v -sp83 OH_S -feet -i s1885565.laz -step 10 -gray -intensity -o int_low.png  
lasgrid64 -v -sp83 OH_S -feet -i s1885565.laz -step 10 -gray -intensity -o int_high.png -highest  
lasgrid64 -v -sp83 OH_S -feet -i s1885565.laz -step 10 -gray -intensity -o int_avg.png -average  
lasgrid64 -v -sp83 OH_S -feet -i s1885565.laz -step 10 -gray -intensity -o int_std.png -stddev  
  
lasgrid64 -v -sp83 OH_S -feet -i s1885565.laz -step 10 -false -intensity -o int_f_low.png  
lasgrid64 -v -sp83 OH_S -feet -i s1885565.laz -step 10 -false -intensity -o int_f_high.png -highest  
lasgrid64 -v -sp83 OH_S -feet -i s1885565.laz -step 10 -false -intensity -o int_f_avg.png -average  
lasgrid64 -v -sp83 OH_S -feet -i s1885565.laz -step 10 -false -intensity -o int_f_std.png -stddev  
  
  
lasgrid64 -v -o result.png -false -i line_27007_dd.las -lonlat -step 0.00002 -stddev  
lasgrid64 -v -o result.png -false -i IowaDNR-CloudPeakSoft-1.0-UTM15N.las   
lasgrid64 -v -o result.png -false -i LAS12_Sample_withIntensity_Quick_Terrain_Modeler.las -step 2 -stddev  
lasgrid64 -v -o result.png -false -i LAS12_Sample_withRGB_Quick_Terrain_Modeler.las -high  
lasgrid64 -v -o result.png -false -i Lincoln.las -utm 14T -step 5  
lasgrid64 -v -o result.png -false -i S1C1_strip021.las -set_min_max 1630 1690 -step 2 -high  
lasgrid64 -v -o result.png -false -i "Serpent Mound Model LAS Data.las" -intensity -set_min_max 0 400  
lasgrid64 -v -o result.png -false -i USACE_Merrick_lots_of_VLRs.las -step 10 -intensity  
  
  
lasgrid64 -h  
lasgrid64 -i *.las -opng -step 5 -false  
lasgrid64 -i in.las -o dtm.asc -mem 1000  
lasgrid64 -i in.las -o chm.png -false -subcircle 0.5 -set_min_max 0 30  
lasgrid64 -i in.laz -o dsm.img -elevation_highest -mem 1900 -temp_files E:\tmp  
lasgrid64 -i in.laz -o out.png -elevation_stddev -false -step 5  
lasgrid64 -i in.las -o intensity.asc -intensity_lowest -step 2 -temp_files E:\tmp  
lasgrid64 -i in.laz -o out.png -scan_angle_abs_lowest -gray -step 2  
lasgrid64 -i in.las -o map.asc -occupancy -step 0.5  
lasgrid64 -i in.laz -o ortho.png -rgb -temp_files E:\tmp  
lasgrid64 -i in.las -o counter.tif -counter -false -step 2  
lasgrid64 -i in.laz -o counter.bil -counter_16bit -step 5  
lasgrid64 -i in.laz -o out.asc -classification_majority -step 1


## lasgrid specific arguments

### aggregate arguments
Aggregate arguments will overwrite aggreagte endings given with the grouping arguments.
-low     : for each grid cell keep lowest value  
-lowest  : for each grid cell keep lowest value  
-min     : for each grid cell keep lowest value  
-mean    : for each grid cell compute average  
-average : for each grid cell compute average  
-avg     : for each grid cell compute average  
-high    : for each grid cell keep highest value  
-highest : for each grid cell keep highest value  
-max     : for each grid cell keep highest value  
-std     : for each grid cell compute standard deviation  
-stddev  : for each grid cell compute standard deviation  

### grouping arguments - samples
Grouping arguments can have aggreate endings. No aggregate arguments are needed then.
See "grouping arguments by tokens" below to see all possible tokens to generate grouping arguments. 
-attribute [n]          : use attribute [n] value as output color parameter  
-counter_2bit           : counts points per cell with an 8 bit counter
-counter_4bit           : counts points per cell with an 4 bit counter
-counter_8bit           : counts points per cell with an 8 bit counter
-counter_16bit          : counts points per cell with an 16 bit counter
-counter_32bit          : counts points per cell with an 32 bit counter
-counter_quotient_8bit  : calculate density quotient with an 8 bit counter 
-counter_quotient_16bit : calculate density quotient with an 16 bit counter
-elevation_highest      : use highest elevation values 
-elevation_min          : use min elevation as values
-elevation_max          : use max elevation as values
-elevation_average      : use average elevation as values
-elevation_avg          : use average elevation as values
-elevation_stddev       : use standard derivation of elevation as values  
-elevation_std          : use standard derivation of elevation as values
-elevation_range        : use elevation range as values
-elevation_index        : use elevation index as values
-intensity_lowest       : use intensity minimum as values
-intensity_min          : use intensity minimum as values
-intensity_max          : use intensity maximum as values
-intensity_average      : use intensity average as values  
-intensity_avg          : use intensity average as values
-intensity_stddev       : use standard derivation of intensity as values
-intensity_std          : use standard derivation of intensity as values
-intensity_range        : use intensity range as values
-scan_angle_min         : use minimum scan angle as values
-scan_angle_min_abs     : use minimum absolute scan angle as values
-scan_angle_max         : use maximum scan angle as values
-scan_angle_max_abs     : use maximum absolute scan angle as values
-scan_angle_highest     : use maximum scan angle as values
-scan_angle_highest_abs : use maximum absolute scan angle as values
-scan_angle_range       : use scan angle range as values
-scan_angle_average     : use average scan angle as values
-scan_angle_average_abs : use average absolute scan angle as values
-scan_angle_avg         : use average scan angle as values
-scan_angle_avg_abs     : use average absolute scan angle as values
-user_data_lowest       : use minimum of user data as values
-user_data_min          : use minimum of user data as values
-user_data_max          : use maximum of user data as values
-user_data_average      : use average of user data as values
-user_data_avg          : use average of user data as values
-user_data_stddev       : use standard derivation of user data as values
-user_data_std          : use standard derivation of user data as values
-user_data_range        : use user data range as values
-point_source_lowest    : use minimum of point source as values
-point_source_min       : use minimum of point source as values
-point_source_max       : use maximum of point source as values
-point_source_range     : use range of point source as values
-gps_time_lowest        : use minimum of gps time as values
-gps_time_min           : use minimum of gps time as values
-gps_time_max           : use maximum of gps time as values
-gps_time_range         : use range of gps time as values
-number_returns_avg     : use average number of returns as values
-number_returns_lowest  : use minimum number of returns as values
-number_returns_min     : use minimum number of returns as values
-number_returns_highest : use maximum number of returns as values
-number_returns_max     : use maximum number of returns as values
-number_returns_stddev  : use standard derivation of returns as values
-number_returns_std     : use standard derivation of returns as values
-range_elevation        : use range of elevation as values
-range_intensity        : use range of intensity as values
-range_scan_angle       : use range of scan_angle as values
-range_user_data        : use range of user_data as values
-range_point_source     : use range of point_source as values
-range_attribute        : use range of attribute as values
-range_gps_time         : use range of gps time as values
-return_type_lowest     : use return type minimum as values
-return_type_min        : use return type minimum as values
-return_type_max        : use return type maximum as values
-return_type_highest    : use return type maximum as values
-rgb                    : use rgb values if available (only used with PNG/TIF/JPG)  
-occupancy              : use occupancy as value
-classification_8bit                      : use classification majority as values using a 8 bit counter
-classification_16bit                     : use classification majority as values using a 16 bit counter
-classification_32bit                     : use classification majority as values using a 32 bit counter
-classification_majority_8bit             : use classification majority as values using a 8 bit counter
-classification_majority_16bit            : use classification majority as values using a 16 bit counter
-classification_majority_32bit            : use classification majority as values using a 32 bit counter
-classification_1_quotient_8bit           : use quotient of classification 1 as values using a 8 bit counter
-classification_2_quotient_8bit           : use quotient of classification 2 as values using a 8 bit counter
-classification_3_quotient_8bit           : use quotient of classification 3 as values using a 8 bit counter
-classification_4_quotient_8bit           : use quotient of classification 4 as values using a 8 bit counter
-classification_5_quotient_8bit           : use quotient of classification 5 as values using a 8 bit counter
-classification_6_quotient_8bit           : use quotient of classification 6 as values using a 8 bit counter
-classification_7_quotient_8bit           : use quotient of classification 7 as values using a 8 bit counter
-classification_8_quotient_8bit           : use quotient of classification 8 as values using a 8 bit counter
-classification_1_quotient_16bit          : use quotient of classification 1 as values using a 16 bit counter
-classification_2_quotient_16bit          : use quotient of classification 2 as values using a 16 bit counter
-classification_3_quotient_16bit          : use quotient of classification 3 as values using a 16 bit counter
-classification_4_quotient_16bit          : use quotient of classification 4 as values using a 16 bit counter
-classification_5_quotient_16bit          : use quotient of classification 5 as values using a 16 bit counter
-classification_6_quotient_16bit          : use quotient of classification 6 as values using a 16 bit counter
-classification_7_quotient_16bit          : use quotient of classification 7 as values using a 16 bit counter
-classification_8_quotient_16bit          : use quotient of classification 8 as values using a 16 bit counter
-classification_variety                   : use classification variety as values
-extended_classification_8bit             : use classification majority as values using a 8 bit counter
-extended_classification_16bit            : use classification majority as values using a 16 bit counter
-extended_classification_32bit            : use classification majority as values using a 32 bit counter
-extended_classification_majority_8bit    : use classification majority as values using a 8 bit counter
-extended_classification_majority_16bit   : use classification majority as values using a 16 bit counter
-extended_classification_majority_32bit   : use classification majority as values using a 32 bit counter
-extended_classification_1_quotient_8bit  : use quotient of classification 1 as values using a 8 bit counter
-extended_classification_2_quotient_8bit  : use quotient of classification 2 as values using a 8 bit counter
-extended_classification_3_quotient_8bit  : use quotient of classification 3 as values using a 8 bit counter
-extended_classification_4_quotient_8bit  : use quotient of classification 4 as values using a 8 bit counter
-extended_classification_5_quotient_8bit  : use quotient of classification 5 as values using a 8 bit counter
-extended_classification_6_quotient_8bit  : use quotient of classification 6 as values using a 8 bit counter
-extended_classification_7_quotient_8bit  : use quotient of classification 7 as values using a 8 bit counter
-extended_classification_8_quotient_8bit  : use quotient of classification 8 as values using a 8 bit counter
-extended_classification_1_quotient_16bit : use quotient of classification 1 as values using a 16 bit counter
-extended_classification_2_quotient_16bit : use quotient of classification 2 as values using a 16 bit counter
-extended_classification_3_quotient_16bit : use quotient of classification 3 as values using a 16 bit counter
-extended_classification_4_quotient_16bit : use quotient of classification 4 as values using a 16 bit counter
-extended_classification_5_quotient_16bit : use quotient of classification 5 as values using a 16 bit counter
-extended_classification_6_quotient_16bit : use quotient of classification 6 as values using a 16 bit counter
-extended_classification_7_quotient_16bit : use quotient of classification 7 as values using a 16 bit counter
-extended_classification_8_quotient_16bit : use quotient of classification 8 as values using a 16 bit counter
-extended_classification_variety          : use classification variety as values


### other specific arguments
-color_map [fnm]           : load colormap txt file [fnm] to define class colors  
-compute_min_max           : computes the range for -gray and -false  
-copy_attribute_into_z [n] : copy attribute [n] value into z  
-density                   : check difference in point density per overlapping flightline per cell with an 8 bit counter  
-false                     : false-color based on min/max range (used with PNG/TIF/JPG)  
-elevation_feet            : use feet for elevation  
-feet                      : use feet  
-fill [n]                  : fills voids in the grid with a square search radius of [n]  
-gray                      : gray-scale based on min/max range (used with PNG/TIF/JPG)  
-grey                      : gray-scale based on min/max range (used with PNG/TIF/JPG)  
-grid_ll [x] [y]           : shift raster grid lower left to [x]/[y]  
-grid_spacing [n]          : raster with stepsize [n] (the default is 1)  
-ilay [n]                  : apply [n] or all LASlayers found in corresponding *.lay file on read  
-ilaydir [n]               : look for corresponding *.lay file in directory [n]  
-invert_ramp               : invert color ramp for output  
-ll [x] [y]                : start rastering at these lower left [x] and [y] coordinates  
-mem [n]                   : use [n] MB of main memory (500-2000; default=1500)  
-nbits [n]                 : use [n] bits to represent the elevation (mainly used with BIL format)  
-ncols [n]                 : raster at most [n] columns (starting from the lower left)  
-nodata [n]                : use [n] as the nodata value in the BIL/ASC format  
-nrows [n]                 : raster at most [n] rows (starting from the lower left)  
-set_min_max               : sets min & max range for -gray and -false  
-step [n]                  : raster with stepsize [n]{default=1}  
-subcircle [r] [z]         : each point is "splatted" with a circle of extra 8 points at radius [r], optional with [z] offset  
-subsample [n]             : see long explanation above [n]  
-subsquare [n]             : subsquare grid with radius [n]  
-switch_G_B                : switch green and blue value  
-temp_files [n]            : set base file name [n] for temp files (example: E:\tmp)  
-trim_upper_right          : trim upper right corner to one quantization unit  
-use_bb                    : raster full extend of bounding box  
-use_orig_bb               : only raster extend of original bounding box (for tiles generated with '-buffered 30')  
-use_tile_bb               : only raster extend of tile bounding box (for tiles generated with lastile)  
-use_tile_size             : use tile size without bounding box  
-week_to_adjusted [n]      : converts time stamps from GPS week [n] to Adjusted Standard GPS  


### grouping arguments by tokens
As grid value paramter each parameter will be checked for serveral tokens.
If a token is detected, the next level of tokens will be checked.
The order of the tokens is not relevant.
If a subtoken is not present and a (default) is defined, this will be used. 

    counter
      quotient
        16bit
        (default):8bit
      16bit
      32bit
      2bit
      4bit
      (default):8bit
    elevation
      highest|max
      average|avg
      stddev|std
      range
      index
      (default):min
    intensity
      lowest|min
      average|avg
      stddev|std
      range
      (default):max
    scan_angle
      highest_abs|abs_highest|max_abs|abs_max
      average_abs|abs_average|avg_abs|abs_avg
      highest|max
      abs
      range
      (default):min
    user_data
      lowest|min
      average|avg
      stddev|std
      range
      (default):max
    point_source    
      lowest|min
      range
      (default):max
    gps_time
      lowest|min
      range
      (default):max
    number_returns
      lowest|min
      highest|max
      stddev|std
      (default):avg
    return_type  
      lowest|min
      highest|max
    rgb
    occupancy
    classification
      extended_classification
        variety  
        quotient
          _1_
          _2_
          _3_
          _4_
          _5_
          _6_
          _7_
          _8_
          16bit
          -else:8bit
        majority
          16bit
          32bit
          -else:8bit
      variety    
      quotient
        _1_
        _2_
        _3_
        _4_
        _5_
        _6_
        _7_
        _8_
        16bit
        -else:8bit
      majority
        16bit
        32bit
        -else:8bit
    value
    mean_xyz     


### Basics
-cpu64        : start 64 bit executable (instead of default 32 bit executable)  
-cores [n]    : process multiple inputs on [n] cores in parallel  
-fail         : fail if license expired or invalid  
-gui          : start with files loaded into GUI  
-h            : print help output  
-help         : print help output  
-license      : show license information  
-quiet        : nothing reported in console  
-v            : verbose output (print extra information)  
-verbose      : verbose output (print extra information)  
-version      : reports this tool's version number  
-very_verbose : very verbose output (print even more information)  
-vv           : very verbose output (print even more information)  

## Module arguments

### General
-buffered [n]      : define read or write buffer of size [n]{default=262144}  
-comma_not_point   : use comma instead of point as decimal separator  
-neighbors [n]     : set neighbors filename or wildcard [n]  
-neighbors_lof [n] : set neighbors list of files [fnf]  
-no_data [n]       : use [n] as the nodata value in the BIL / ASC format  
-no_kml            : avoids auto-creation of KML wrapper  
-no_world_file     : avoid world-file for PNG, JPG, TIF and BIL output  
-stored            : use in memory reader  

### Color
-clamp_RGB_to_8bit                  : limit RGB values to 8 bit (otherwise: 16 bit)  
-copy_B_into_NIR                    : copy blue color value into NearInfraRed value  
-copy_B_into_intensity              : copy blue color value to intensity  
-copy_B_into_register [n]           : copy blue color value into register [n]  
-copy_G_into_NIR                    : copy green color value into NearInfraRed value  
-copy_G_into_intensity              : copy green color value to intensity  
-copy_G_into_register [n]           : copy green color value into register [n]  
-copy_NIR_into_intensity            : copy NIR into intensity  
-copy_NIR_into_register [n]         : copy NearInfraRed value into register [n]  
-copy_RGB_into_intensity            : copy weighted RGB value to intensity  
-copy_R_into_NIR                    : copy red color value into NearInfraRed value  
-copy_R_into_intensity              : copy red color value to intensity  
-copy_R_into_register [n]           : copy red color value into register [n]  
-copy_attribute_into_B [n]          : copy attribute [n] value into blue  
-copy_attribute_into_G [n]          : copy attribute [n] value into green  
-copy_attribute_into_NIR [n]        : copy attribute [n] value into NIR (NearInfraRed)  
-copy_attribute_into_R [n]          : copy attribute [n] value into red  
-copy_intensity_into_NIR            : copy intensity into NIR (NearInfraRed) value  
-copy_register_into_B [n]           : copy register [n] into blue color value  
-copy_register_into_G [n]           : copy register [n] into green color value  
-copy_register_into_I [n]           : copy register [n] into NearInfraRed value  
-copy_register_into_NIR [n]         : copy register [n] into NearInfraRed value  
-copy_register_into_R [n]           : copy register [n] into red color value  
-drop_RGB_green [min] [max]         : drop points with green color value between [min] and [max]  
-drop_RGB_red [min] [max]           : drop points with red color value between [min] and [max]  
-force_RGB                          : force the use of the RGB value even if the point format does not support RGB  
-keep_NDVI_from_CIR [min] [max]     : keep NDVI (Normalized Difference Vegetation Index) from CIR between [min] [max]  
-keep_NDVI_green_is_NIR [min] [max] : keep NDVI (Normalized Difference Vegetation Index) where green is NIR between [min] [max]  
-keep_NDVI_intensity_is_NIR [min] [max]: keep NDVI (Normalized Difference Vegetation Index) where intensity is NIR between [min] [max]  
-keep_RGB_blue [m] [n]              : keep points with RGB blue color values between [min] [max]  
-keep_RGB_green [min] [max]         : keep points with green color value between [min] and [max]  
-keep_RGB_greenness [m] [n]         : keep points with RGB greenness values between [min] [max]  
-keep_RGB_nir [m] [n]               : keep points with RGB NIR values between [min] [max]  
-keep_RGB_red [min] [max]           : keep points with red color value between [min] and [max]  
-map_attribute_into_RGB [a] [fnm]   : map attribute [a] by table in file [fnm] to RGB values  
-scale_NIR [n]                      : scale NearInfraRed value by factor [n]  
-scale_NIR_down                     : scale NearInfraRed value down by 256  
-scale_NIR_to_16bit                 : scale 8 bit NearInfraRed value to 16 bit  
-scale_NIR_to_8bit                  : scale 16 bit NearInfraRed value downto 8 bit  
-scale_NIR_up                       : scale NearInfraRed value up by 256  
-scale_RGB [r] [g] [b]              : scale RGB values by factors in [r][g][b]  
-scale_RGB_down                     : scale RGB color values down by 256  
-scale_RGB_to_16bit                 : scale 8 bit color values to 16 bit  
-scale_RGB_to_8bit                  : scale 16 bit color values downto 8 bit  
-scale_RGB_up                       : scale RGB values from 8 bit up to 16 bit (multiply with 256)  
-scale_rgb_down                     : divides all RGB values by 256 (to go from 16 bit to 8 bit numbers)  
-scale_rgb_up                       : multiplies all RGB values by 256 (to go from 8 bit to 16 bit numbers)  
-set_NIR [n]                        : set NearInfraRed value to [n]  
-set_RGB [r] [g] [b]                : set color to [r] [g] [b]  
-set_RGB_of_class [c] [r] [g] [b]   : set RGB values of class [c] to [r][g][b] (8 or 16 bit)  
-switch_RGBI_into_CIR               : set R to NIR; G to R; B to G  
-switch_RGB_intensity_into_CIR      : set R to intensity; G to R; B to G  
-switch_R_B                         : switch red and blue color value  
-switch_R_G                         : switch red and green color value  

### Coordinates
-add_attribute_to_z [n]             : add value of attribute [n] to z value  
-add_scaled_attribute_to_z [m] [n]  : scale attribute [m] value by [n] and add to z value  
-auto_reoffset                      : puts a reasonable offset in the header and translates the points accordingly  
-bin_Z_into_point_source [n]        : set point source to z/[n]  
-clamp_raw_z [min] [max]            : limit raw z values to [min] and [max]  
-clamp_z [min] [max]                : limit z values to [min] and [max]  
-clamp_z_above [n]                  : limit z values to maximal [n]  
-clamp_z_below [n]                  : limit z values to minimal [n]  
-classify_z_above_as [m] [n]        : for z value above [m] set class to [n]  
-classify_z_below_as [m] [n]        : for z value below [m] set class to [n]  
-classify_z_between_as [m] [n] [o]  : for z value between [m] and [n] set class to [o]  
-copy_attribute_into_x [n]          : copy attribute [n] value into x  
-copy_attribute_into_y [n]          : copy attribute [n] value into y  
-copy_intensity_into_z              : copy intensity to z value  
-copy_register_into_x [n]           : copy register [n] to x value  
-copy_register_into_y [n]           : copy register [n] to y value  
-copy_register_into_z [n]           : copy register [n] to z value  
-copy_user_data_into_z              : copy user data into z  
-copy_z_into_attribute [n]          : copy z value into attribute [n] value  
-drop_x [m] [n]                     : drop points with x value between [m] and [n]  
-drop_x_above [n]                   : drop points with x value above [n]  
-drop_x_below [n]                   : drop points with x value below [n]  
-drop_xy [x1] [y1] [x2] [y2]        : drop points within the [x1] [y1] [x2] [y2] rectangle  
-drop_xyz [x1] [y1] [z1] [x2] [y2] [z2]: drop points within the given cube dimensions  
-drop_y [m] [n]                     : drop points with y value between [m] and [n]  
-drop_y_above [n]                   : drop points with y value above [n]  
-drop_y_below [n]                   : drop points with y value below [n]  
-drop_z [m] [n]                     : drop points with z value between [m] and [n]  
-drop_z_above [n]                   : drop points with z value above [n]  
-drop_z_below [n]                   : drop points with z value below [n]  
-inside [x1] [y1] [x2] [y2]         : use only points within the [x1] [y1] [x2] [y2] rectangle  
-inside_circle [x] [y] [r]          : keep circle at pos [x] [y] with radius [r]  
-inside_rectangle [x1] [y1] [x2] [y2]: use only points within the [x1] [y1] [x2] [y2] rectangle  
-inside_tile [m] [n] [o]            : use only points inside tile at lower-left [x] [y] with size [s]  
-keep_circle [x] [y] [r]            : keep circle at pos [x] [y] with radius [r]  
-keep_profile [x1] [y1] [x2] [y2] [w]: keep profile with [x1] [y1] [x2] [y2] [w]  
-keep_tile [x] [y] [size]           : keep tile at lower-left [x] [y] with size [s]  
-keep_x [m] [n]                     : keep points with x value between [m] and [n]  
-keep_xy [x1] [y1] [x2] [y2]        : keep points within the [x1] [y1] [x2] [y2] rectangle  
-keep_xyz [x1] [y1] [z1] [x2] [y2] [z2]: keep points within the given cube dimensions  
-keep_y [m] [n]                     : keep points with y value between [m] and [n]  
-keep_z [m] [n]                     : keep points with z value between [m] and [n]  
-keep_z_above [n]                   : keep points with z value above [n]  
-keep_z_below [n]                   : keep points with z value below [n]  
-reoffset [x] [y] [z]               : puts a new offset [x] [y] [z] into the header and translates the points accordingly  
-rescale [x] [y] [z]                : puts a new scale [x] [y] [z] into the header and rescales the points accordingly  
-rescale_xy [x] [y]                 : rescale x y by [x] [y]  
-rescale_z [z]                      : rescale z by [z]  
-rotate_xy [a] [x] [y]              : rotate points by [a] degrees, center at [x] [y]  
-rotate_xz [a] [x] [z]              : rotate points by [a] degrees, center at [x] [z]  
-rotate_yz [a] [y] [z]              : rotate points by [a] degrees, center at [y] [z]  
-scale_x [n]                        : scale x value by [n]  
-scale_xyz [m] [n] [o]              : scale xyz values by [m] [n] [o]  
-scale_y [n]                        : scale y value by [n]  
-scale_z [n]                        : scale z value by [n]  
-switch_x_y                         : exchange x and y value  
-switch_x_z                         : exchange x and z value  
-switch_y_z                         : exchange z and x value  
-transform_affine [k,w,x,y]         : transform by k*cos(w)+k*sin(w)+tx;k*cos(w)+k*sin(w)+ty - angle in second of arc  
-transform_helmert [m] [n] [o]      : do a helmert transformation with 3 or 7 comma separated parameters [n] ...  
-transform_matrix [r11,r12,r13] [r21,r22,r23] [r31,r32,r33] [tr1,tr2,tr3]: transform input using matrix [r11,r12,r13] [r21,r22,r23] [r31,r32,r33] [tr1,tr2,tr3]  
-translate_raw_x [n]                : translate raw x value by [n]  
-translate_raw_xy_at_random [x] [y] : translate raw xy values by random and max offset of [x] [y]  
-translate_raw_xyz [x] [y] [z]      : translate raw coordinates by [x] [y] [z]  
-translate_raw_y [n]                : translate raw y value by [n]  
-translate_raw_z [n]                : translate raw z value by [n]  
-translate_scale_translate_x [m] [n]: calculate x value as (x–[m])*[n]+[m]  
-translate_scale_translate_y [m] [n]: calculate y value as (y–[m])*[n]+[m]  
-translate_scale_translate_z [m] [n]: calculate z value as (z–[m])*[n]+[m]  
-translate_then_scale_x [m] [n]     : translate x value by [m] and scale by [n]  
-translate_then_scale_y [m] [n]     : translate y value by [m] and scale by [n]  
-translate_then_scale_z [m] [n]     : translate z value by [m] and scale by [n]  
-translate_x [n]                    : translate y value by [n]  
-translate_xyz [x] [y] [z]          : translate point coordinates by [x] [y] [z]  
-translate_y [n]                    : translate y value by [n]  
-translate_z [n]                    : translate z value by [n]  

### Simple thinning
-drop_every_nth [n]           : drop every [n]th point  
-keep_every_nth [n]           : keep every [n]th point  
-keep_random_fraction [m] [n] : keep points by random fraction [m]{0-1}, optional seed [n]  
-thin_points_with_time [n]    : thin points with time, [n] = timespacing  
-thin_pulses_with_time [n]    : thin pulses with time, [n] = timespacing  
-thin_with_grid [n]           : thin points by min grid size of [n]  
-thin_with_time [n]           : thin pulses with time, [n] = timespacing  

### Return number
-change_extended_number_of_returns_from_to [m] [n]: change extended number of returns from [m] to [n]  
-change_extended_return_number_from_to [m] [n]: change extended return number from [m] to [n]  
-change_number_of_returns_from_to [m] [n]: change number of returns from [m] to [n]  
-change_return_number_from_to [m] [n]: change return number from [m] to [n]  
-drop_double                        : drop double returns  
-drop_first                         : drop first return  
-drop_first_of_many                 : drop first of many returns  
-drop_last                          : drop last return  
-drop_last_of_many                  : drop last of many returns  
-drop_middle                        : drop middle returns  
-drop_number_of_returns [n]         : drop points with [n] number of returns  
-drop_quadruple                     : drop quadruple returns  
-drop_quintuple                     : drop quintuple returns  
-drop_return [m] [n]...             : drop points with return [m] [n]...  
-drop_return_mask [n]               : drop points with return mask [n]  
-drop_second_last                   : drop points with second last return  
-drop_single                        : drop points with single return  
-drop_triple                        : drop points with triple return  
-first_only                         : use first return only  
-keep_double                        : keep double returns  
-keep_first                         : keep first return  
-keep_first_of_many                 : keep first of many returns  
-keep_last                          : keep last return  
-keep_last_of_many                  : keep last of many returns  
-keep_middle                        : keep mittle returns  
-keep_number_of_returns [n]         : keep points with [n] number of returns  
-keep_quadruple                     : keep quadruple returns  
-keep_quintuple                     : keep quintuple returns  
-keep_return [m] [n]...             : keep points with return [m] [n]...  
-keep_return_mask [n]               : keep points with return mask [n]  
-keep_second_last                   : keep points with second last return  
-keep_single                        : keep points with single return  
-keep_triple                        : keep points with triple return  
-last_only                          : use last return only  
-repair_zero_returns                : sets return counts and number of returns that are zero to one  
-set_extended_number_of_returns [n] : set extended number of returns to [n]  
-set_extended_return_number [n]     : set extended return number to [n]  
-set_number_of_returns [n]          : set number of returns to [n]  
-set_return_number [n]              : set return number to [n]  

### Scanline
-drop_scan_direction [n]       : drop points with scan direction [n]  
-faf                           : input files are flightlines. do ***NOT*** use this for tiled input  
-faf_index [n]                 : set files are flightlines index [n]  
-files_are_flightlines         : input files are flightlines. do ***NOT*** use this for tiled input  
-drop_edge_of_flight_line      : drop points with "Edge of Flight Line" flag set  
-keep_edge_of_flight_line      : keep points with "Edge of Flight Line" flag set  
-keep_scan_direction_change    : keep points with changed scan direction flag  
-set_edge_of_flight_line [0/1] : set "Edge of Flight Line" flag to [0/1]  
-set_scan_direction_flag [0/1] : set scan direction flag to [0/1]  

### Scanner channel
-copy_scanner_channel_into_point_source: copy scanner channel into point_source  
-copy_scanner_channel_into_user_data: copy scanner channel into user data  
-copy_user_data_into_scanner_channel: copy user data into scanner channel  
-drop_scanner_channel [n]           : drop points with scanner channel [n]  
-keep_scanner_channel [n]           : keep points with scanner channel [n]  
-merge_scanner_channel_into_point_source: merge scanner channel to point source  
-set_extended_scanner_channel [n]   : set extended scanner channel to [n]  
-set_scanner_channel [n]            : set scanner channel to [n]  
-split_scanner_channel_from_point_source: split scanner channel from point source and save as extended scanner channel  

### Source ID
-apply_file_source_ID               : copy file source ID to target  
-bin_Z_into_point_source [n]        : set point source to z/[n]  
-bin_abs_scan_angle_into_point_source [n]: set point source to scan_angle/[n]  
-bin_gps_time_into_point_source [n] : set point source to gps/[n]  
-change_point_source_from_to [m] [n]: change point source from [m] to [n]  
-copy_attribute_into_point_source [n]: copy attribute [n] value into point source  
-copy_classification_into_point_source: copy classification to point source  
-copy_point_source_into_register [n]: copy point source into register [n]  
-copy_register_into_point_source [n]: copy register [n] to point source  
-copy_scanner_channel_into_point_source: copy scanner channel into point_source  
-copy_user_data_into_point_source   : copy user data into point source  
-drop_point_source [n]              : drop points with point source [n]  
-drop_point_source_above [n]        : drop points with with point source above [n]  
-drop_point_source_below [n]        : drop points with with point source below [n]  
-drop_point_source_between [m] [n]  : drop points with with point source between [n] and [m]  
-keep_point_source [n]              : keep points with point source [n]  
-keep_point_source_between [m] [n]  : keep points with with point source between [n] and [m]  
-map_point_source [fnm]             : set the point source by map in file [fnm]  
-merge_scanner_channel_into_point_source: merge scanner channel to point source  
-set_point_source [n]               : set point source to [n]  
-split_scanner_channel_from_point_source: split scanner channel from point source and save as extended scanner channel  

### User data
-add_scaled_attribute_to_user_data [m] [n]: scale attribute [m] value by [n] and add to user data  
-change_user_data_from_to [m] [n]   : change user data from [m] to [n]  
-copy_attribute_into_user_data [n]  : copy attribute [n] value into user data field  
-copy_classification_into_user_data : copy classification to user data  
-copy_register_into_user_data [n]   : copy register [n] to user data  
-copy_scanner_channel_into_user_data: copy scanner channel into user data  
-copy_user_data_into_attribute [n]  : copy user data into attribute [n] value  
-copy_user_data_into_classification : copy user data into classification  
-copy_user_data_into_point_source   : copy user data into point source  
-copy_user_data_into_register [n]   : copy user data to register [n]  
-copy_user_data_into_scanner_channel: copy user data into scanner channel  
-copy_user_data_into_z              : copy user data into z  
-drop_user_data [n]                 : drop points with user data value of [n]  
-drop_user_data_above [n]           : drop points with user data value above [n]  
-drop_user_data_below [n]           : drop points with user data value below [n]  
-drop_user_data_between [m] [n]     : drop points with user data between [m] and [n]  
-keep_user_data [n]                 : keep points with user data value of [n]  
-keep_user_data_above [n]           : keep points with user data value above [n]  
-keep_user_data_below [n]           : keep points with user data value below [n]  
-keep_user_data_between [m] [n]     : keep points with user data between [m] and [n]  
-map_user_data [fnm]                : set the user data by map in file [fnm]  
-scale_user_data [n]                : scale user data by [n]  
-set_user_data [n]                  : sets all user_data fields to [n]  

### Classification
-change_class_from_to [m] [n]       : change classification from [m] to [n]  
-change_classification_from_to [m] [n]: change classification from [m] to [n]  
-change_extended_class_from_to [m] [n]: change extended class from [m] to [n]  
-change_extended_classification_from_to [m] [n]: change extended class from [m] to [n]  
-classify_attribute_above_as [m] [n] [o]: for attribute [m] with value above [n] set class to [o]  
-classify_attribute_below_as [m] [n] [o]: for attribute [m] with value below [n] set class to [o]  
-classify_attribute_between_as [m] [n] [o] [p]: for attribute [m] with value between [n] and [o] set class to [p]  
-classify_intensity_above_as [m] [n]: for intensity value above [m] set class to [n]  
-classify_intensity_below_as [m] [n]: for intensity value below [m] set class to [n]  
-classify_intensity_between_as [m] [n] [o]: for intensity value between [m] and [n] set class to [o]  
-classify_z_above_as [m] [n]        : for z value above [m] set class to [n]  
-classify_z_below_as [m] [n]        : for z value below [m] set class to [n]  
-classify_z_between_as [m] [n] [o]  : for z value between [m] and [n] set class to [o]  
-copy_classification_into_point_source: copy classification to point source  
-copy_classification_into_user_data : copy classification to user data  
-copy_intensity_into_classification : copy intensity to classification  
-copy_user_data_into_classification : copy user data into classification  
-drop_class [m] [n] [o]...          : drop points with class in [m][n][o]...  
-drop_classification [m] [n] [o]... : drop points with class in [m][n][o]...  
-drop_classification_mask [n]       : drop points with classification mask matches [n]  
-drop_extended_class [m] [n]...     : drop extended class [m] [n]...  
-drop_extended_classification [n]   : drop points with extended classification [n]  
-drop_extended_classification_mask [a] [b] [c] [d] [e] [f] [g] [h]: drop points with extended classification mask matches [a] [b] [c] [d] [e] [f] [g] [h]  
-keep_class [m] [n] [o]...          : keep points with class in [m][n][o]...  
-keep_classification [m] [n] [o]... : keep points with class in [m][n][o]...  
-keep_classification_mask [n]       : keep points with classification mask matches [n]  
-keep_extended_class [m] [n]...     : keep extended class [m] [n]...  
-keep_extended_classification [n]   : keep points with extended class [n]  
-move_ancient_to_extended_classification: move old data to extended classification  
-set_RGB_of_class [c] [r] [g] [b]   : set RGB values of class [c] to [r][g][b] (8 or 16 bit)  
-set_classification [n]             : set classification to [n]  
-set_extended_classification [n]    : set extended classification to [n]  

### Extra byte
-add_attribute_to_z [n]             : add value of attribute [n] to z value  
-add_scaled_attribute_to_user_data [m] [n]: scale attribute [m] value by [n] and add to user data  
-add_scaled_attribute_to_z [m] [n]  : scale attribute [m] value by [n] and add to z value  
-classify_attribute_above_as [m] [n] [o]: for attribute [m] with value above [n] set class to [o]  
-classify_attribute_below_as [m] [n] [o]: for attribute [m] with value below [n] set class to [o]  
-classify_attribute_between_as [m] [n] [o] [p]: for attribute [m] with value between [n] and [o] set class to [p]  
-copy_attribute_into_B [n]          : copy attribute [n] value into blue  
-copy_attribute_into_G [n]          : copy attribute [n] value into green  
-copy_attribute_into_I [n]          : copy attribute [n] value into intensity  
-copy_attribute_into_NIR [n]        : copy attribute [n] value into NIR (NearInfraRed)  
-copy_attribute_into_R [n]          : copy attribute [n] value into red  
-copy_attribute_into_intensity [n]  : copy attribute [n] value into intensity  
-copy_attribute_into_point_source [n]: copy attribute [n] value into point source  
-copy_attribute_into_register [m] [n]: copy attribute [m] value into register [m]  
-copy_attribute_into_user_data [n]  : copy attribute [n] value into user data field  
-copy_attribute_into_x [n]          : copy attribute [n] value into x  
-copy_attribute_into_y [n]          : copy attribute [n] value into y  
-copy_intensity_into_attribute [n]  : copy intensity to attribute [n] value  
-copy_register_into_attribute [m] [n]: copy register [m] to attribute [n] value  
-copy_user_data_into_attribute [n]  : copy user data into attribute [n] value  
-copy_z_into_attribute [n]          : copy z value into attribute [n] value  
-drop_attribute_above [m] [n]       : drop points with attribute [m] value > [n]  
-drop_attribute_below [m] [n]       : drop points with attribute [m] value < [n]  
-drop_attribute_between [m] [n] [o] : drop points with attribute [m] in range [n]...[o]  
-iadd_attribute [m] [n] [o] [p] [q] [r] [s] [t]: adds a new "extra_byte" attribute of data_type [m] name [n] description [o]; optional: scale[p] offset [q] pre_scale [r] pre_offset [s] no_data_value [t]  
-iadd_extra [m] [n] [o] [p] [q] [r] [s] [t]: adds a new "extra_byte" attribute of data_type [m] name [n] description [o]; optional: scale[p] offset [q] pre_scale [r] pre_offset [s] no_data_value [t]  
-keep_attribute_above [m] [n]       : keep points with attribute [m] value > [n]  
-keep_attribute_below [m] [n]       : keep points with attribute [m] value < [n]  
-keep_attribute_between [m] [n] [o] : keep points with attribute [m] in range [n]...[o]  
-load_attribute_from_text [m] [fnt] : load attribute [m] from file [fnt]  
-map_attribute_into_RGB [a] [fnm]   : map attribute [a] by table in file [fnm] to RGB values  
-scale_attribute [m] [n]            : scale attribute [m] by [n]  
-set_attribute [m] [n]              : set attribute [m] with value [n]  
-translate_attribute [m] [n]        : translate attribute [n] by [n]  

### Flags
-drop_keypoint                   : drop points flaged as keypoint  
-drop_overlap                    : drop points flaged as overlap  
-drop_scan_direction [n]         : drop points with scan direction [n]  
-drop_synthetic                  : drop points flaged as synthetic  
-drop_withheld                   : drop points flaged as withheld  
-keep_edge_of_flight_line        : keep points with "Edge of Flight Line" flag set  
-keep_keypoint                   : keep points flaged as keypoint  
-keep_overlap                    : keep points flaged as overlap  
-keep_scan_direction_change      : keep points with changed scan direction flag  
-keep_synthetic                  : keep points flaged as synthetic  
-keep_withheld                   : keep points flaged as withheld  
-set_edge_of_flight_line [0/1]   : set "Edge of Flight Line" flag to [0/1]  
-set_extended_overlap_flag [0/1] : set extended overlap flag to [0/1]  
-set_keypoint_flag [0/1]         : set keypoint flag to [0/1]  
-set_overlap_flag [0/1]          : set overlap flag to [0/1]  
-set_scan_direction_flag [0/1]   : set scan direction flag to [0/1]  
-set_synthetic_flag [0/1]        : set synthetic flag to [0/1]  
-set_withheld_flag [0/1]         : set withheld flag to [0/1]  

### GPS time
-adjusted_to_week                   : converts time stamps from Adjusted Standard GPS to GPS week  
-bin_gps_time_into_intensity [n]    : set intensity time to gps/[n]  
-bin_gps_time_into_point_source [n] : set point source to gps/[n]  
-drop_gps_time_above [n]            : drop points with GPS time above [n]  
-drop_gps_time_below [n]            : drop points with GPS time below [n]  
-drop_gps_time_between [m] [n]      : drop points with GPS time between [m] and [n]  
-drop_gpstime_above [n]             : drop points with GPS time above [n]  
-drop_gpstime_below [n]             : drop points with GPS time below [n]  
-drop_gpstime_between [m] [n]       : drop points with GPS time between [m] and [n]  
-keep_gps_time [m] [n]              : keep points with GPS time between [m] and [n]  
-keep_gps_time_above [n]            : keep points with GPS time above [n]  
-keep_gps_time_below [n]            : keep points with GPS time below [n]  
-keep_gps_time_between [m] [n]      : keep points with GPS time between [m] and [n]  
-keep_gpstime [m] [n]               : keep points with GPS time between [m] and [n]  
-keep_gpstime_above [n]             : keep points with GPS time above [n]  
-keep_gpstime_below [n]             : keep points with GPS time below [n]  
-keep_gpstime_between [m] [n]       : keep points with GPS time between [m] and [n]  
-set_gps_time [n]                   : set gps time to [n]  
-translate_gps_time [n]             : translate GPS time by [n]  

### Intensity
-bin_gps_time_into_intensity [n]    : set intensity time to gps/[n]  
-clamp_intensity [min] [max]        : limit intensity values to [min] and [max]  
-clamp_intensity_above [max]        : limit intensity values to maximal [max]  
-clamp_intensity_below [max]        : limit intensity values to minimal [min]  
-classify_intensity_above_as [m] [n]: for intensity value above [m] set class to [n]  
-classify_intensity_below_as [m] [n]: for intensity value below [m] set class to [n]  
-classify_intensity_between_as [m] [n] [o]: for intensity value between [m] and [n] set class to [o]  
-copy_B_into_intensity              : copy blue color value to intensity  
-copy_G_into_intensity              : copy green color value to intensity  
-copy_NIR_into_intensity            : copy NIR into intensity  
-copy_RGB_into_intensity            : copy weighted RGB value to intensity  
-copy_R_into_intensity              : copy red color value to intensity  
-copy_attribute_into_I [n]          : copy attribute [n] value into intensity  
-copy_attribute_into_intensity [n]  : copy attribute [n] value into intensity  
-copy_intensity_into_NIR            : copy intensity into NIR (NearInfraRed) value  
-copy_intensity_into_attribute [n]  : copy intensity to attribute [n] value  
-copy_intensity_into_classification : copy intensity to classification  
-copy_intensity_into_register [n]   : copy color intensitiy value into register [n]  
-copy_intensity_into_z              : copy intensity to z value  
-copy_register_into_intensity [n]   : copy register [n] into point intensitiy value  
-drop_intensity_above [n]           : drop points with intensity value above [n]  
-drop_intensity_below [n]           : drop points with intensity value below [n]  
-drop_intensity_between [m] [n]     : drop points with intensity value between [m] and [n]  
-iscale_intensity [n]               : scale intensity value by [n]  
-itranslate_intensity [n]           : translate input intensity by [n]  
-keep_NDVI_intensity_is_NIR [min] [max]: keep NDVI (Normalized Difference Vegetation Index) where intensity is NIR between [min] [max]  
-keep_intensity [m] [n]             : keep points with intensity between [m] and [n]  
-keep_intensity_above [n]           : keep points with intensity value above [n]  
-keep_intensity_below [n]           : keep points with intensity value below [n]  
-map_intensity [fnm]                : set the intensity by map in file [fnm]  
-scale_intensity [n]                : multiply intensity by [n]  
-set_intensity [n]                  : set intensity to [n]  
-switch_RGB_intensity_into_CIR      : set R to intensity; G to R; B to G  
-translate_intensity [n]            : translate intensity by [n]  
-translate_then_scale_intensity [m] [n]: translate intensity by [m] and scale by [n]  

### Raw point values
-clamp_raw_z [min] [max]            : limit raw z values to [min] and [max]  
-translate_raw_x [n]                : translate raw x value by [n]  
-translate_raw_xy_at_random [x] [y] : translate raw xy values by random and max offset of [x] [y]  
-translate_raw_xyz [x] [y] [z]      : translate raw coordinates by [x] [y] [z]  
-translate_raw_y [n]                : translate raw y value by [n]  
-translate_raw_z [n]                : translate raw z value by [n]  

### Registers
-add_registers [m] [n] [o]          : add register [m] and [n] and store result in register [o]  
-copy_B_into_register [n]           : copy blue color value into register [n]  
-copy_G_into_register [n]           : copy green color value into register [n]  
-copy_NIR_into_register [n]         : copy NearInfraRed value into register [n]  
-copy_R_into_register [n]           : copy red color value into register [n]  
-copy_attribute_into_register [m] [n]: copy attribute [m] value into register [m]  
-copy_intensity_into_register [n]   : copy color intensitiy value into register [n]  
-copy_point_source_into_register [n]: copy point source into register [n]  
-copy_register_into_B [n]           : copy register [n] into blue color value  
-copy_register_into_G [n]           : copy register [n] into green color value  
-copy_register_into_I [n]           : copy register [n] into NearInfraRed value  
-copy_register_into_NIR [n]         : copy register [n] into NearInfraRed value  
-copy_register_into_R [n]           : copy register [n] into red color value  
-copy_register_into_attribute [m] [n]: copy register [m] to attribute [n] value  
-copy_register_into_intensity [n]   : copy register [n] into point intensitiy value  
-copy_register_into_point_source [n]: copy register [n] to point source  
-copy_register_into_user_data [n]   : copy register [n] to user data  
-copy_register_into_x [n]           : copy register [n] to x value  
-copy_register_into_y [n]           : copy register [n] to y value  
-copy_register_into_z [n]           : copy register [n] to z value  
-copy_user_data_into_register [n]   : copy user data to register [n]  
-divide_registers [m] [n] [o]       : divide register [m] by register [n] and store result in register [o]  
-multiply_registers [m] [n] [o]     : Multiply register [m] with [n] and store result in register [o]  
-scale_register [m] [n]             : scale register index [m] with factor [n]  
-set_register [m] [n]               : set register [m] with value [n]  
-subtract_registers [m] [n] [o]     : subtract register [m] by register [n] and store result in register [o]  
-translate_register [m] [n]         : translate register index [m] value by [n]  

### Scan angle
-bin_abs_scan_angle_into_point_source [n]: set point source to scan_angle/[n]  
-drop_abs_scan_angle_above [max]    : drop points with absolute scan angle above [max]  
-drop_abs_scan_angle_below [min]    : drop points with absolute scan angle below [min]  
-drop_scan_angle_above [n]          : drop points with scan angle above [n]  
-drop_scan_angle_below [n]          : drop points with scan angle below [n]  
-drop_scan_angle_between [m] [n]    : drop points with scan angle between [m] and [n]  
-iscale_scan_angle [n]              : scale scan angle by [n]  
-itranslate_scan_angle [n]          : translate input scan angle by [n]  
-keep_scan_angle [m] [n]            : keep points with scan angle between [m] and [n]  
-keep_scan_angle_between [m] [n]    : keep points with scan angle between [m] and [n]  
-scale_scan_angle [n]               : scale scan angle by [n]  
-set_scan_angle [n]                 : set scan angle to [n]  
-translate_scan_angle [n]           : translate scan angle by [n]  
-translate_then_scale_scan_angle [m] [n]: translate scan angle by [m] and scale by [n]  

### Tiles
-keep_tile [x] [y] [size] : keep tile at lower-left [x] [y] with size [s]  
-tiles_ns [m] [n]         : create a tiling of DEMs with name [m] with tiles of size [n]  
-tiling_ns crater 500     : create a tiling of DEMs named 'crater' with tiles of size 500  

### Waveform packet
-drop_wavepacket [n]     : drop points with wavepacket value of [n]  
-flip_waveform_direction : flip the waveform direction in the waveform VLR  
-keep_wavepacket [n]     : keep points with wavepacket value of [n]  

### CRS
-aeac [m] [n] [meter/survey_feet/feet] [o] [p] [q] [r]: Albers Equal Area Conic Projection: False Easting [m] False Northing[n] [meter/survey_feet/feet] Central Meridian [o] Standard Parallel 1 [p] Standard Parallel 2 [q] Latitude of origin [r]  
-ecef                               : input is geocentric (Earth-centered Earth-fixed)  
-elevation_meter                    : use meter for elevation  
-elevation_survey_feet              : set vertical units from meters to US survey feet  
-elevation_surveyfeet               : use survey feet for elevation  
-ellipsoid [n]                      : use the WGS-84 ellipsoid [n]{do -ellipsoid -1 for a list of ellipsoids}  
-epsg [n]                           : set datum to EPSG [n]  
-etrs89                             : use datum ETRS89  
-gda2020                            : use datum GDA2020  
-gda94                              : use datum GDA94  
-grs80                              : use datum GRS1980  
-latlong                            : geometric coordinates in latitude/longitude order  
-lcc 609601.22 0.0 meter 33.75 -79 34.33333 36.16666: specifies a lambertian conic confomal projection  
-longlat                            : geometric coordinates in longitude/latitude order  
-meter                              : use meter  
-nad27                              : use the NAD27 ellipsoid  
-nad83                              : use the NAD83 ellipsoid  
-nad83_2011                         : use datum NAD83_2011  
-nad83_csrs                         : use datum NAD83_CSRS  
-nad83_harn                         : use datum NAD83_HARN  
-nad83_pa11                         : set horizontal datum to NAD83 PA11  
-osgb1936                           : use datum OSGB 1936  
-sp27 SC_N                          : use the NAD27 South Carolina North state plane  
-sp83 CO_S                          : use the NAD83 Colorado South state plane for georeferencing  
-survey_feet                        : use survey feet  
-surveyfeet                         : use survey feet as unit of measurement  
-target_aeac [m] [n] [meter/survey_feet/feet] [o] [p] [q] [r]: Albers Equal Area Conic Projection for target: False Easting [m] False Northing[n] [meter/survey_feet/feet] Central Meridian [o] Standard Parallel 1 [p] Standard Parallel 2 [q] Latitude of origin [r]  
-target_ecef                        : output is geocentric (Earth-centered Earth-fixed)  
-target_elevation_feet              : output uses feet for elevation  
-target_elevation_meter             : output uses meter for elevation  
-target_elevation_precision [n]     : output uses [n] (meter/feet) resolution for z  
-target_elevation_survey_feet       : use elevation survey feet as target unit  
-target_elevation_surveyfeet        : output uses survey feet for elevation  
-target_epsg [n]                    : output is EPSG code [n] (e.g. 2193=NZGD2000)  
-target_feet                        : output uses feet  
-target_latlong                     : output is geometric coordinates in latitude/longitude  
-target_lcc 609601.22 0.0 meter 33.75 -79 34.33333 36.16666: specifies a lambertian conic confomal projection at target  
-target_longlat                     : output is geometric coordinates in longitude/latitude  
-target_meter                       : output uses meter  
-target_precision [n]               : output uses [n] (meter/feet) resolution for x and y  
-target_sp27 SC_N                   : output is state plane NAD27 South Carolina North  
-target_sp83 CO_S                   : output is state plane NAD83 Colorado South  
-target_survey_feet                 : output uses survey feet  
-target_surveyfeet                  : use survey feet as target unit  
-target_tm                          : use transverse mercator projection for target  
-target_utm 12T                     : output is UTM zone 12T  
-tm 609601.22 0.0 meter 33.75 -79 0.99996: specifies a transverse mercator projection  
-transverse_mercator                : use transverse mercator projection  
-utm 12T                            : use UTM zone 12T  
-vertical_cgvd2013                  : set vertical datum to CGVD2013  
-vertical_cgvd28                    : set vertical datum to CGVD28  
-vertical_dhhn2016                  : set vertical datum to DHHN2016  
-vertical_dhhn92                    : set vertical datum to DHHN92  
-vertical_dvr90                     : set vertical datum to DVR90  
-vertical_epsg [n]                  : set vertical datum to EPSG [n]  
-vertical_evrf2007                  : set vertical datum to EVRF2007  
-vertical_navd29                    : set vertical datum to NAVD29  
-vertical_navd88                    : set vertical datum to NAVD88  
-vertical_ngvd29                    : set vertical datum to NGVD29  
-vertical_nn2000                    : set vertical datum to NN2000  
-vertical_nn54                      : set vertical datum to NN54  
-vertical_nzvd2016                  : set vertical datum to NZVD2016  
-vertical_wgs84                     : set vertical datum to WGS84  
-wgs72                              : use the WGS-72 ellipsoid  
-wgs84                              : use the WGS-84 ellipsoid  

### Logical
-filter_and         : boolean AND combination of last 2 filters  
-filter_or          : boolean OR combination of last 2 filters  
-filtered_transform : do the transformation only on points of the current filter  

### Input
-i [fnp]        : input file or input file mask [fnp] (e.g. *.laz;fo?.la?;esri.shp,...)  
-io_ibuffer [n] : use read-input-buffer of size [n] bytes  
-iparse [xyz]   : define fields [xyz] for text input parser  
-ipts           : input as PTS (plain text lidar source), store header in VLR  
-iptx           : input as PTX (plain text extended lidar data), store header in VLR  
-iptx_transform : use PTX file header to transform point data  
-iskip [n]      : skip [n] lines at the beginning of the text input  
-itxt           : expect input as text file  
-lof [fnf]      : use input out of a list of files [fnf]  
-unique         : remove duplicate files in a -lof list  
-merged         : merge input files  
-stdin          : pipe from stdin  

### Output
-compression_quality [n] : set compression quality to [n] for compressable image formats  
-do_not_populate         : do not populate header on output  
-nil                     : pipe output to NULL (suppress output)  
-o [n]                   : use [n] as output file  
-oasc                    : output as ascii file  
-obil                    : output as bil (Band Interleaved by Line)  
-ocsv                    : output as CSV (comma separated value)  
-ocut [n]                : cut the last [n] characters from name  
-odir [n]                : set output directory to [n]  
-odix [n]                : set output file name suffix to [n]  
-odtm                    : output as dtm (Digital Terrain Models)  
-oflt                    : output as flt (Float file format)  
-oforce                  : force output creation also on errors or warnings  
-oimg                    : output as img (Image file) (Win32 only)  
-ojpg                    : output as jpg (JPG image)  
-olaz                    : output as LAZ (compressed LAS)  
-opng                    : output as png (PNG image)  
-osep [n]                : set text output separator as [sep] (see below, only xyz)  
-otif                    : output as GeoTIFF image  
-oxyz                    : output as xyz textfile  
-pipe_on                 : write output to command pipe, see also -std_in  
-populate                : populate header on output  
-target_ecef             : output is geocentric (Earth-centered Earth-fixed)  

### parse
The '-parse [xyz]' flag specifies how to interpret
each line of the ASCII file. For example, 'tsxyzssa'
means that the first number is the gpstime, the next
number should be skipped, the next three numbers are
the x, y, and z coordinate, the next two should be
skipped, and the next number is the scan angle.

The other supported entries are:  
  x : [x] coordinate  
  y : [y] coordinate  
  z : [z] coordinate  
  t : gps [t]ime  
  R : RGB [R]ed channel  
  G : RGB [G]reen channel  
  B : RGB [B]lue channel  
  I : N[I]R channel of LAS 1.4 point type 8  
  s : [s]kip a string or a number that we don't care about  
  i : [i]ntensity  
  a : scan [a]ngle  
  n : [n]umber of returns of that given pulse  
  r : number of [r]eturn  
  h : with[h]eld flag  
  k : [k]eypoint flag  
  g : synthetic fla[g]  
  o : [o]verlap flag of LAS 1.4 point types 6, 7, 8  
  l : scanner channe[l] of LAS 1.4 point types 6, 7, 8  
  E : terrasolid [E]hco Encoding  
  c : [c]lassification  
  u : [u]ser data  
  p : [p]oint source ID  
  e : [e]dge of flight line flag  
  d : [d]irection of scan flag  
  0-9 : additional attributes described as extra bytes (0 through 9)  
  (13) : additional attributes described as extra bytes (10 and up)  
  H : a hexadecimal string encoding the RGB color  
  J : a hexadecimal string encoding the intensity  

### output separator
The '-osep [sep]' argument specifies the output format of a text(xyz) output.
Supported [sep] values:

  comma
  tab
  dot
  colon
  semicolon
  hyphen
  space

## License

Please license from info@rapidlasso.de to use the tool
commercially. 
You may use the tool to do tests with up to 3 mio points.
Please note that the unlicensed version may will adjust
some data and add a bit of white noise to the coordinates.

## Support

To get more information about a tool just goto the
[LAStools Google Group](http://groups.google.com/group/lastools/)
and enter the tool name in the search function.
You will get plenty of samples to this tool.

To get further support see our
[rapidlasso service page](https://rapidlasso.de/service/)

Check for latest updates at
https://rapidlasso.de/category/blog/releases/

If you have any suggestions please let us (info@rapidlasso.de) know.

