# lascolor This tool colors LiDAR points based on imagery that is usually an ortho-photo. The tool computes into which pixel a LAS point is falling and then sets the RGB values accordingly. Currently only the TIF format is supported. The world coordinates need to be either in GeoTIFF tags or in an accompanying *.tfw file. By default the 8 bit RGB colors of the TIF file will be scaled up to 16 bits in order to comform the LAS specification. Use the option '-dont_scale_rgb_up' to avoid this automatic up-scaling. By default the LiDAR points falling outside of the image or that fall into a no-data area of the image will not be colored. Use option '-zero_rgb' to set their color to (0/0/0) instead. It is also possible to only copy a '-grey' band into all three RGB channels or a single color '-red', '-green' or '-blue' into the corresponding channel. If the input image has more than one band use '-band 2' to specify which one to copy from. By default this will be band 0. It is also possible to copy '-nir' either from a single band image or from a multi-band image and then '-band 3' or else is needed. Instead of copying into the NIR band of point types 8 or 10 the NIR value can also be stored as '-intensity'. With '-rgbnir' and a 4-band RGBNIR input image it is possible to copy all 4 bands at once into either RGB and the NIR channel or into the RGB and the intensity fields by adding '-intensity' For storing to the NIR channel the input LAS file already needs to be LAS 1.4. If needed use las2las to upgraded to a LAS 1.4 file prior to running lascolor. You can run lascolor on an entire folder of LAS/LAZ files with corresponding (identical file name but different file extension) image files by using the '-imagedir ortho' switch *instead* of the '-image some_file.tif'. If corresponding TIF files are in the same folder as the LAS/LAZ files then you can simply omit both. Here running on multiple '-cores 4' tends to give you a nice speed-up. Instead of coloring points it is also possible to classify them based on the pixel they fall into. Use '-classify_as 10' to give all points that fall into a black pixel of a gray or a color image the classification code 10. Alternatively use one of the options '-classify_not_black', '-classify_white', or '-classify_not_white' to color pixels that are not black, white, or not white. ## Examples lascolor64 -i LAS_18910_2010_25.laz ^ -image cir_18910_2010_tiled_16bit.tif ^ -odix _rgb -olaz lascolor64 -i LAS_18910_2010_25.laz ^ -image cir_18910_2010_2_scanline_8bit.tif ^ -odix _rgb1 -olaz lascolor64 -i LAS_18910_2010_25.laz ^ -image cir_18910_2010_2_tiled_8bit.tif ^ -odix _rgb2 -olaz lascolor64 -i point_clouds\*.laz ^ -imagedir ortho_photos ^ -odir colored_point_clouds -olaz ^ -cores 4 Below you see the resulting changes in point type and RGB colors: lasinfo LAS_18910_2010_25.laz (original) reporting all LAS header entries: file signature: 'LASF' file source ID: 18910 global_encoding: 0 project ID GUID data 1-4: 00000000-0000-0000-0000-000000000000 version major.minor: 1.2 system identifier: 'LAStools (c) by rapidlasso GmbH' generating software: 'lasduplicate (130506) commercia' file creation day/year: 276/2013 header size: 227 offset to point data: 227 number var. length records: 0 point data format: 0 point data record length: 20 number of point records: 486674 number of points by return: 486674 0 0 0 0 scale factor x y z: 0.01 0.01 0.01 offset x y z: 700000 200000 0 min x y z: 703149.14 248150.21 647.87 max x y z: 703849.14 248850.21 798.71 LASzip compression (version 2.1r0 c2 50000): POINT10 2 reporting minimum and maximum for all LAS point record entries ... X 314914 384914 Y 4815021 4885021 Z 64787 79871 intensity 45 99 edge_of_flight_line 0 0 scan_direction_flag 0 0 number_of_returns_of_given_pulse 1 1 return_number 1 1 classification 0 0 scan_angle_rank 0 0 user_data 0 0 point_source_ID 11 22 overview over number of returns of given pulse: 486674 0 0 0 0 0 0 histogram of classification of points: 486674 Created, never classified (0) lasinfo -i LAS_18910_2010_25_rgb.laz (colored with 16 bit image) reporting all LAS header entries: file signature: 'LASF' file source ID: 18910 global_encoding: 0 project ID GUID data 1-4: 00000000-0000-0000-0000-000000000000 version major.minor: 1.2 system identifier: 'LAStools (c) by rapidlasso GmbH' generating software: 'lascolor (131214) academic' file creation day/year: 276/2013 header size: 227 offset to point data: 227 number var. length records: 0 point data format: 2 point data record length: 26 number of point records: 486674 number of points by return: 486674 0 0 0 0 scale factor x y z: 0.01 0.01 0.01 offset x y z: 700000 200000 0 min x y z: 703149.14 248150.21 647.87 max x y z: 703849.14 248850.21 798.71 LASzip compression (version 2.2r0 c2 50000): POINT10 2 RGB12 2 reporting minimum and maximum for all LAS point record entries ... X 314914 384914 Y 4815021 4885021 Z 64787 79871 intensity 45 99 edge_of_flight_line 0 0 scan_direction_flag 0 0 number_of_returns_of_given_pulse 1 1 return_number 1 1 classification 0 0 scan_angle_rank 0 0 user_data 0 0 point_source_ID 11 22 Color R 0 19603 G 0 27297 B 0 31113 overview over number of returns of given pulse: 486674 0 0 0 0 0 0 histogram of classification of points: 486674 Created, never classified (0) lasinfo -i LAS_18910_2010_25_rgb1.laz (colored with 8 bit image) reporting all LAS header entries: file signature: 'LASF' file source ID: 18910 global_encoding: 0 project ID GUID data 1-4: 00000000-0000-0000-0000-000000000000 version major.minor: 1.2 system identifier: 'LAStools (c) by rapidlasso GmbH' generating software: 'lascolor (131214) academic' file creation day/year: 276/2013 header size: 227 offset to point data: 227 number var. length records: 0 point data format: 2 point data record length: 26 number of point records: 486674 number of points by return: 486674 0 0 0 0 scale factor x y z: 0.01 0.01 0.01 offset x y z: 700000 200000 0 min x y z: 703149.14 248150.21 647.87 max x y z: 703849.14 248850.21 798.71 LASzip compression (version 2.2r0 c2 50000): POINT10 2 RGB12 2 reporting minimum and maximum for all LAS point record entries ... X 314914 384914 Y 4815021 4885021 Z 64787 79871 intensity 45 99 edge_of_flight_line 0 0 scan_direction_flag 0 0 number_of_returns_of_given_pulse 1 1 return_number 1 1 classification 0 0 scan_angle_rank 0 0 user_data 0 0 point_source_ID 11 22 Color R 0 65280 G 0 65280 B 0 65280 overview over number of returns of given pulse: 486674 0 0 0 0 0 0 histogram of classification of points: 486674 Created, never classified (0) lascolor64 -h lascolor64 -i in.las -image ortho.tif -o out.laz lascolor64 -i in.laz -image ortho.tif -dont_scale_rgb_up -odix _rgb -olaz lascolor64 -i in_rgb.laz -image ortho.tif -zero_rgb -odix _new -olaz lascolor64 -i lidar\*.laz -imagedir ortho -odir colored_lidar -olaz -cores 4 lascolor64 -i lidar\*.laz -odir colored_lidar -olaz -cores 4 ## lascolor specific arguments -add_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] -add_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] -band [n] : use band [n] for single band operations -band_into_blue [n] : copies band [n] into the blue (B) channel -band_into_green [n] : copies band [n] into the green (G) channel -band_into_intensity [n] : copies band [n] into the intensity channel -band_into_nir [n] : copies band [n] into the NIR channel -band_into_red [n] : copies band [n] into the red (R) channel -blue : copies selected band (-band) into the blue (B) channels -classify [n] : classify points as [n] instead of clip away -classify_as [n] : classifies points falling into a black pixel as [n] -classify_black : points falling into a black pixels (default) -classify_non_black : points falling into a non-black pixels -classify_non_white : points falling into a non-white pixels -classify_white : points falling into a white pixels -cores [n] : process multiple inputs on [n] cores in parallel -dont_scale_rgb_up : copy RGBI values as they are (don't default upscale from 8 to 16 bit) -gray : copies selected band (-band) into all three RGB channels -green : copies selected band (-band) into the green (G) channels -grey : copies selected band (-band) into all three RGB channels -ignore_class [m] [n] [o] ... : ignores points with classification codes [m] [n] [o] ... -ilay [n] : apply [n] or all LASlayers found in corresponding *.lay file on read -ilaydir [n] : look for corresponding *.lay file in directory [n] -image [n] : specifies *single* image file [n] to be used for coloring (all) input file(s) -imagedir [dir] : specifies directory [dir] where correspondingly named image files are located -imgpng : use PNG as image file format -imgtif : use TIFF as image file format -intensity : copies selected band (-band) into the intensity field -nir : copies selected band (-band) into the NIR channel -olay : write or append classification changes to a LASlayers *.lay file -olaydir [dir] : write the output *.lay file in directory [dir] -pairs [n] : locally correct image alignment via IDW vectors in file [n] -red : copies selected band (-band) into the red (R) channels -rgb : default setting. copies the first three bands from image to LiDAR points -rgbnir : copies the first four bands of the image into the RGBNIR fields of the LAS file -switch_G_B : switch green and blue value -week_to_adjusted [n] : converts time stamps from GPS week [n] to Adjusted Standard GPS -zero_rgb : any LiDAR points not covered by the image receive the color black ### Basics -cpu64 : start 64 bit executable (instead of default 32 bit executable) -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} -chunk_size [n] : set chunk size [n] in number of bytes -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] -stored : use in memory reader -unique : remove duplicate points ### 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 -oscale_rgb [n] : scale output RGB by [n] -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_attribute_into_z [n] : copy attribute [n] value into z -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 [a],[b],[c],[d] : transform input using affine transformation with [a],[b],[c],[d] -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_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 -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_attribute_into_z [n] : copy attribute [n] value into z -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] ### 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_feet : use feet for elevation -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 -feet : use feet -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] -merged : merge input files -stdin : pipe from stdin ### Output -compatible : write LAS/LAZ output in compatibility mode -do_not_populate : do not populate header on output -io_obuffer [n] : use write-out-buffer of size [n] bytes -native : write LAS/LAZ output in native/actual mode -nil : pipe output to NULL (suppress output) -o [n] : use [n] as output file -obin : output as BIN (terrasolid binary) -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] -oforce : force output creation also on errors or warnings -olas : output as LAS file -olaz : output as LAZ (compressed LAS) -oparse [xyz] : parse on-the-fly to ASCII using fields [xyz] -opts : output as PTS (plain text lidar data) -optx : output as PTX (plain text with header) -oqi : output in QFIT format (.qi)(ATM project, NASA) -oscale_rgb [n] : scale output RGB by [n] -osep [sep] : set text output separator as [sep](see table below) -otxt : output as textfile -owrl : output as VRLM (Virtual Reality Modeling Language) text -pipe_on : write output to command pipe, see also -std_in -populate : populate header on output -stdout : pipe to stdout -target_ecef : output is geocentric (Earth-centered Earth-fixed) -temp_files [n] : set base file name [n] for temp files (example: E:\tmp) ### add_attribute The '-add_attribute' argument allow as first parameter the datatype out of this values: 0 : undocumented - extra bytes specify value in options field 1 : unsigned char (1 byte) 2 : char (1 byte) 3 : unsigned short (2 bytes) 4 : short (2 bytes) 5 : unsigned long (4 bytes) 6 : long (4 bytes) 7 : unsigned long long (8 bytes) 8 : long long (8 bytes) 9 : float (4 bytes) 10 : double (8 bytes) 11-30 : deprecated 31-255 : reserved ### 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.