switch las-convertion from CloudCompare to LAStools

PointCloudWeb.Server/PointCloudWeb.Server/Globals.cs

@@ -11,8 +11,10 @@ namespace PointCloudWeb.Server
             PotreeConverterExe = basePath + "/PointCloudWeb.Server/Tools/PotreeConverter/PotreeConverter.exe";
             TempPath = basePath + "/temp";
             CloudCompareExe = "C:/Program Files/CloudCompare/CloudCompare.exe";
+            LasToolsTxt2Las = basePath + "/PointCloudWeb.Server/Tools/LAStools/txt2las.exe";
         }
 
+        public static string LasToolsTxt2Las { get;  }
         public static string PotreeDataPath { get; }
         public static string PotreeConverterExe { get; }
         public static string TempPath { get; }

PointCloudWeb.Server/PointCloudWeb.Server/Models/PointCloud.cs

@@ -115,9 +115,9 @@ namespace PointCloudWeb.Server.Models
             {
                 // + 0.001 Otherwise points are outside of the bounding box by a floating-error, then Potree-Converter fails
                 stringBuilder.AppendLine(string.Join(',', 
-                    (point.X + 0.1).ToString(CultureInfo.InvariantCulture), 
+                    (point.X).ToString(CultureInfo.InvariantCulture), 
-                    (point.Y + 0.1).ToString(CultureInfo.InvariantCulture), 
+                    (point.Y).ToString(CultureInfo.InvariantCulture), 
-                    (point.Z + 0.1).ToString(CultureInfo.InvariantCulture)
+                    (point.Z).ToString(CultureInfo.InvariantCulture)
                     )
                 );
             }
@@ -131,7 +131,7 @@ namespace PointCloudWeb.Server.Models
             File.WriteAllText(fileName, ToStringXyz());
         }
 
-        public void WriteToLas(string fileName)
+        public void WriteToLasCloudCompare(string fileName)
         {
             var fileNameXyz = Path.ChangeExtension(fileName, ".xyz");
             WriteToXyz(fileNameXyz);
@@ -143,6 +143,19 @@ namespace PointCloudWeb.Server.Models
             cloudCompare.Start();
             cloudCompare.WaitForExit();
         }
+        
+        public void WriteToLas(string fileName)
+        {
+            var fileNameXyz = Path.ChangeExtension(fileName, ".xyz");
+            WriteToXyz(fileNameXyz);
+
+            var txt2Las = new Process();
+            txt2Las.StartInfo.FileName = Globals.LasToolsTxt2Las;
+            txt2Las.StartInfo.Arguments =
+                $"\"{fileNameXyz}\" -parse xyz -o \"{fileName}\"";
+            txt2Las.Start();
+            txt2Las.WaitForExit();
+        }
     }
 
     public class PointCloudCollection : List<PointCloud>

PointCloudWeb.Server/PointCloudWeb.Server/Services/PointCloudService.cs

@@ -3,6 +3,7 @@ using System.Collections.Generic;
 using System.Diagnostics;
 using System.IO;
 using PointCloudWeb.Server.Models;
+using PointCloudWeb.Server.Utils;
 
 namespace PointCloudWeb.Server.Services
 {
@@ -37,7 +38,7 @@ namespace PointCloudWeb.Server.Services
 
         private void InitSampleData()
         {
-            //EthTestData.CreateData(this);
+            EthTestData.CreateData(this);
         }
 
         private void RaiseIfNotExists(Guid id)

PointCloudWeb.Server/Tools/LAStools/CMakeLists.txt

@@ -0,0 +1,15 @@
+cmake_minimum_required(VERSION 2.8 FATAL_ERROR)
+set(CMAKE_SUPPRESS_REGENERATION true)
+project("LAStools")
+
+if (!MSVC)
+	add_compile_options(-O3 -Wall -Wno-strict-aliasing)
+else()
+	add_definitions(-D_CRT_SECURE_NO_WARNINGS)
+endif()
+
+add_subdirectory(LASlib/src)
+add_subdirectory(src)
+if (EXISTS src_full)
+	add_subdirectory(src_full)
+endif()

PointCloudWeb.Server/Tools/LAStools/COPYING.txt

@@ -0,0 +1,502 @@
+		  GNU LESSER GENERAL PUBLIC LICENSE
+		       Version 2.1, February 1999
+
+ Copyright (C) 1991, 1999 Free Software Foundation, Inc.
+     59 Temple Place, Suite 330, Boston, MA  02111-1307  USA
+ Everyone is permitted to copy and distribute verbatim copies
+ of this license document, but changing it is not allowed.
+
+[This is the first released version of the Lesser GPL.  It also counts
+ as the successor of the GNU Library Public License, version 2, hence
+ the version number 2.1.]
+
+			    Preamble
+
+  The licenses for most software are designed to take away your
+freedom to share and change it.  By contrast, the GNU General Public
+Licenses are intended to guarantee your freedom to share and change
+free software--to make sure the software is free for all its users.
+
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+specially designated software packages--typically libraries--of the
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+can use it too, but we suggest you first think carefully about whether
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+
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PointCloudWeb.Server/Tools/LAStools/LICENSE.txt

@@ -0,0 +1,103 @@
+--------------------------------------------------------------------------
+
+  LICENSE AGREEMENT:
+
+  This software is distributed WITHOUT ANY WARRANTY and without even the
+  implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
+
+--------------------------------------------------------------------------
+
+  There are TWO parts to LAStools. One part is OPEN source (LGPL 2.1). The
+  other part is CLOSED source and requires licensing for most commercial
+  or government use. If you're unsure please email 'martin@rapidlasso.com'
+  before using LAStools. For education and evaluation purposes you can use
+  and test LAStools as much as you need to ... (-:
+
+  Personal note: The creator of LAStools and LASzip is currently not able
+  to attend LiDAR conferences or other scientific meetings in the US over
+  a somewhat unfortunate, kind of silly, and in many ways absurdly funny
+  incident involving "laser chickens" and a US Nuclear Weapons Lab. If you
+  have enough "pull" to rectify this ridiculous situation we would like to
+  hear from you ... (-;
+
+--------------------------------------------------------------------------
+
+  This part of LAStools is "free" open-source LGPL (see COPYING.txt). To
+  purchase a different licensing model contact 'license@rapidlasso.com'.
+
+    * laszip
+    * lasindex
+    * lasvalidate
+    * lasliberate
+    * lasinfo
+    * las2las
+    * lasdiff
+    * lasmerge
+    * las2txt & txt2las
+    * lasprecision
+    * LASzip (with static linking exception)
+    * LASlib (with LASzip) - the API used by LAStools.
+
+  These are also "free" to use but not (yet) available in open source.
+
+    * demzip  
+    * demdiff
+    * e572las
+    * lasview
+    * laspublish
+    * lasoptimize
+
+--------------------------------------------------------------------------
+
+  The following LAStools require licensing for any commercial, government,
+  or production use. However, they may be used "freely" for all non-profit
+  personal, non-military educational, or non-profit humanitarian purposes.
+  Note that the output of the unlicensed version can be slightly distorted
+  after certain point limits are exceeded. Control output in the console
+  (aka "the black window") informs the user whenever this happens.
+
+    * blast2dem
+    * blast2iso
+
+    * lasground & lasground_new
+    * lasheight & lastrack
+    * lasclassify
+    * lasgrid & lascanopy
+    * lasboundary
+    * lascontrol
+    * lasoverlap
+    * lasoverage
+    * lasdatum
+    * lasduplicate
+    * lassplit
+    * lasreturn
+    * las2tin
+    * las2iso
+    * las2dem
+    * lasthin & lasnoise
+    * lassort
+    * lastile
+    * lasplanes
+    * lascolor
+    * lasclip
+    * lasvoxel
+    * lasdistance
+    * las2shp & shp2las.
+
+--------------------------------------------------------------------------
+
+  If you want to use LAStools please contact us for licensing. You can
+
+  (a) license the existing executables for production
+  (b) license the existing executables for inclusion in your software 
+ 
+  You can also contract with rapidlasso GmbH to create LAStools tailored
+  to your particular needs.
+  
+--------------------------------------------------------------------------
+
+  COPYRIGHT:
+  
+  (c) 2007-2021, rapidlasso GmbH, GERMANY - fast tools to catch reality
+
+--------------------------------------------------------------------------

PointCloudWeb.Server/Tools/LAStools/README.txt

@@ -0,0 +1,77 @@
+LAStools: award-winning software for efficient LiDAR processing (with LASzip)
+
+You find all individual LAStools in the .\LAStools\bin directory. Start
+them by double-clicking or run them in the DOS command line. The ArcGIS
+toolbox can be found in .\LAStools\ArcGIS_toolbox and the QGIS toolbox
+in .\LAStools\QGIS_toolbox. A few example DOS batch scripts can be found
+in the .\LAStools\example_batch_scripts directory.
+
+user group:      http://groups.google.com/group/lastools
+company page:    http://rapidlasso.com
+latest updates:  http://lastools.org
+twitter feed:    http://twitter.com/LAStools
+facebook page:   http://facebook.com/LAStools
+linkedin group:  http://linkedin.com/groups?gid=4408378
+
+open source tools:
+
+* laszip.exe compresses the LAS files in a completely lossless manner
+* lasinfo.exe prints out a quick overview of the contents of a LAS file
+* lasindex.exe creates a spatial index LAX file for fast spatial queries
+* las2las.exe extracts last returns, clips, subsamples, translates, etc ...
+* lasmerge.exe merges several LAS or LAZ files into a single LAS or LAZ file
+* txt2las.exe converts LIDAR data from ASCII text to binary LAS format
+* las2txt.exe turns LAS into human-readable and easy-to-parse ASCII
+* lasprecision.exe analyses the actual precision of the LIDAR points
+
+closed source tools:
+
+* lastool.exe is an old GUI for multiple LAStools (now each tool has its own GUI)
+
+* lasground.exe extracts the bare-earth by classifying all ground points
+* lasground_new.exe an improved version of lasground.exe for complex terrains
+* lasoverlap.exe checks overlap & vertical/horizontal alignment of flight lines
+* lascontrol.exe quality checks elevations for a list of control points 
+* lasclassify.exe finds buildings and the vegetation above the ground
+* lascolor.exe colors the LAS points based on ortho imagery in TIF format 
+* lasgrid.exe grids onto min/max/avg/std elevation, intensity, or counter rasters
+* lascanopy.exe computes many raster and plot metrics for forestry applications
+* lasboundary.exe extracts a boundary polygon that encloses the points
+* lasheight.exe computes for each point its height above the ground
+* lastrack.exe classifies LiDAR point based on distance from a trajectory
+* lasplanes.exe finds planar patches in terrestrial, mobile, (airborne?) scans 
+* lasclip.exe clips points against building footprints / swath boundaries
+* lastile.exe tiles huge amounts of LAS points into square tiles
+* lassplit.exe splits points of LAS file(s) into flightlines or other criteria
+* lassort.exe sorts points by gps_time, point_source, or into spatial proximity
+* lasduplicate.exe removes duplicate points (with identical x and y, z optional) 
+* lasthin.exe thins lowest / highest / random LAS points via a grid
+* las2tin.exe triangulates the points of a LAS file into a TIN
+* las2dem.exe rasters (via a TIN) into elevation/slope/intensity/rgb DEMs
+* las2iso.exe extracts, optionally simplified, elevation contours
+* lasview.exe visualizes a LAS file with a simple OpenGL viewer
+* las2shp.exe turns binary LAS into ESRI's Shapefile format
+* shp2las.exe turns an ESRI's Shapefile into binary LAS
+
+BLAST extension
+
+* blast2dem.exe rasters like las2dem but with streaming TINs for billions of points. 
+* blast2iso.exe contours like las2iso but with streaming TINs for billions of points. 
+
+For Windows all binaries are included. All open source tools can be compiled
+from the source code. For MSVC6.0 there is a project file. For Linux and MacOS
+the makefiles are included. Simply go into the root directory and run 'make':
+
+unzip LAStools.zip
+cd LAStools/
+make
+
+The compiled binary executables are or will be in the ./LAStools/bin directory.
+
+---
+
+Please read the "LICENSE.txt" file for information on the legal use and licensing
+of LAStools. I would also really like it if you would send me an email and tell me
+what you use LAStools for and what features and improvements you could need. 
+
+(c) 2007-2015 martin.isenburg@rapidlasso.com - http://rapidlasso.com

PointCloudWeb.Server/Tools/LAStools/txt2las_README.txt

@@ -0,0 +1,406 @@
+****************************************************************
+
+  txt2las:
+
+  Converts LIDAR data from a standard ASCII format into the more
+  efficient binary LAS/LAZ/BIN representations. You can request 
+  a particular point type with '-set_point_type 6'.
+
+  Reads also directy from *.gz, *.zip, *.rar, and *.7z files if
+  the corresponding gzip.exe, unzip.exe, unrar.exe, and 7z.exe
+  are in the same folder.
+
+  Allows adding a VLR to the header with projection information.
+
+  If your input text file is PTS or PTX format you can preserve
+  the extra header information of these files. Simply add the
+  appropriate '-ipts' or '-iptx' switch to the command line which
+  will store this in a VLR. You can later reconstruct the PTS or
+  PTX files with 'las2las' or 'las2txt' by adding the corresponding
+  '-opts' or '-optx' option to the command line.
+
+  Also allows adding additional attributes to LAS/LAZ files using
+  the "Extra Bytes" concept with '-add_attribute'.
+
+  It is also possible to pipe the ASCII into txt2las. For this you
+  will need to add both '-stdin' and '-itxt' to the command-line.
+ 
+  For updates check the website or join the LAStools mailing list.
+
+  http://rapidlasso.com/LAStools
+  http://lastools.org/
+  http://groups.google.com/group/lastools/
+  http://twitter.com/LAStools
+  http://facebook.com/LAStools
+  http://linkedin.com/groups?gid=4408378
+
+  Martin @rapidlasso
+
+****************************************************************
+
+example usage:
+
+>> txt2las -i lidar.txt.gz -o lidar.las -parse ssxyz
+
+converts a gzipped ASCII file and uses the 3rd, 4th, and 5th entry
+of each line as the x, y, and z coordinate of each point
+
+>> txt2las -i lidar.zip -o lidar.laz -parse ssxyz -utm 14T
+
+same as above for a zipped ASCII file but produces compressed LAZ
+and adds projection info for utm zone with wgs84 
+
+>> txt2las -i lidar.txt -o lidar.laz -parse xyzai -scale_scan_angle 57.3 -scale_intensity 65535
+
+also reads the 4th entry as the scan angle and multiplies it by 57.3
+(radian to angle) and the 5th entry as the intensity and multiplies
+it by 65535 (converts range [0.0 .. 1.0] to range [0 .. 65535]. then
+produces a compressed LAZ file.
+
+>> txt2las -skip 3 -i lidar.txt.gz -o lidar.las -parse txyzsa -sp83 OH_N
+
+converts a gzipped ASCII file and uses the 1st entry of each line
+as the gps time, the 3rd, 4th, and 5th entry as the x, y, and z
+coordinate of each point, and the 6th entry as the scan angle. it
+skips the first three lines of the ASCII data file and adds projection
+info for state plane ohio north with nad83. 
+
+>> txt2las -i lidar.txt.gz -o lidar.laz -parse xyzRGB -set_scale 0.001 0.001 0.001 -set_offset 500000 4000000 0
+
+converts a gzipped ASCII file and uses the 1st 2nd, and 3rd entry
+of each line as the x, y, and z coordinate of each point, and the
+4th, 5th, and 6th entry as the RGB color. the created compressed
+LAZ file will have a precision of 0.001 0.001 0.001 and an offset
+of 500000 4000000 0
+
+>> txt2las -i LiDAR.txt -parse xyz0irnt -add_attribute 3 "echo width" "of returning waveform [ns]" 0.1 -o LiDAR.laz
+
+4590235.448 5436373.539 600.528 9.8 35 1 2 215277.271327
+4590235.524 5436373.642 600.257 9.8 35 2 2 215277.271327
+4590238.788 5436378.064 591.820 5.7 89 1 1 215277.271333
+4590238.710 5436377.908 595.356 5.9 18 1 3 215277.271340
+4590239.164 5436378.529 593.746 5.4 30 2 3 215277.271340
+4590239.633 5436379.171 592.083 4.8 15 3 3 215277.271340
+
+Given 'LiDAR.txt' contains ASCII as above then '-parse xyz0irnt' stores
+the first three columns to x y and z and the 4th column as an additional
+attribute in the "Extra Bytes". The first argument of '-add_attribute'
+specifies the data type, the following two strings are the name and the
+description of the "Extra Bytes", and the final 0.1 means that the number
+should be stored with a scale of 0.1. Hence the value 9.8 will be stored
+as an unsigned short 98 and the value 5.3 will be stored as an unsigned
+short 53. 
+
+>> txt2las -i LiDAR2.txt -parse xyz0i1rnt ^
+           -add_attribute 3 "echo width" "of returning waveform [ns]" 0.1 ^
+	   -add_attribute 3 "corrected intensity" "uniform across flightlines" ^
+           -o LiDAR2.laz
+
+4590235.448 5436373.539 600.528 9.8 35 44 1 2 215277.271327
+4590235.524 5436373.642 600.257 9.8 35 39 2 2 215277.271327
+4590238.788 5436378.064 591.820 5.7 89 99 1 1 215277.271333
+4590238.710 5436377.908 595.356 5.9 18 27 1 3 215277.271340
+4590239.164 5436378.529 593.746 5.4 30 38 2 3 215277.271340
+4590239.633 5436379.171 592.083 4.8 15 23 3 3 215277.271340
+
+Same as before but with a second additional attribute marked by '1' in the
+parse string and specified by a second occurance of the '-add_attribute'
+option. These are unsigned integers numbers so no scale value is required.
+
+****************************************************************
+
+overview of all tool-specific switches:
+
+-v                                      : more info reported in console
+-vv                                     : even more info reported in console
+-quiet                                  : nothing reported in console
+-version                                : reports this tool's version number
+-gui                                    : start with files loaded into GUI
+-cores 4                                : process multiple inputs on 4 cores in parallel
+-set_point_type 6                       : use point type 6 of LAS 1.4 instead of point type 1 of LAS 1.2
+-set_version 1.4                        : force version 1.4 (even if point type 0, 1, 2, or 3 are used)
+-set_scale 0.05 0.05 0.001              : quantize ASCII points with 5 cm in x and y and 1 mm in z
+-set_offset 500000 2000000 0            : use offset 500000 2000000 0 instead of auto choosing one
+-set_file_creation 67 2011              : set file creation date to specified dayofyear / year
+-set_system_identifier "Riegl Q680i"    : set system identifier to specified 31 character string
+-set_generating_software "LAStools"     : set generating software to specified 31 character string
+-set_global_encoding 1                  : set global encoding in LAS header to 1
+-progress 10000000                      : report progress every 10 million points
+
+****************************************************************
+
+for more info:
+
+E:\LAStools\bin>txt2las -h
+Filter points based on their coordinates.
+  -keep_tile 631000 4834000 1000 (ll_x ll_y size)
+  -keep_circle 630250.00 4834750.00 100 (x y radius)
+  -keep_xy 630000 4834000 631000 4836000 (min_x min_y max_x max_y)
+  -drop_xy 630000 4834000 631000 4836000 (min_x min_y max_x max_y)
+  -keep_x 631500.50 631501.00 (min_x max_x)
+  -drop_x 631500.50 631501.00 (min_x max_x)
+  -drop_x_below 630000.50 (min_x)
+  -drop_x_above 630500.50 (max_x)
+  -keep_y 4834500.25 4834550.25 (min_y max_y)
+  -drop_y 4834500.25 4834550.25 (min_y max_y)
+  -drop_y_below 4834500.25 (min_y)
+  -drop_y_above 4836000.75 (max_y)
+  -keep_z 11.125 130.725 (min_z max_z)
+  -drop_z 11.125 130.725 (min_z max_z)
+  -drop_z_below 11.125 (min_z)
+  -drop_z_above 130.725 (max_z)
+  -keep_xyz 620000 4830000 100 621000 4831000 200 (min_x min_y min_z max_x max_y max_z)
+  -drop_xyz 620000 4830000 100 621000 4831000 200 (min_x min_y min_z max_x max_y max_z)
+Filter points based on their return numbering.
+  -keep_first -first_only -drop_first
+  -keep_last -last_only -drop_last
+  -keep_second_last -drop_second_last
+  -keep_first_of_many -keep_last_of_many
+  -drop_first_of_many -drop_last_of_many
+  -keep_middle -drop_middle
+  -keep_return 1 2 3
+  -drop_return 3 4
+  -keep_single -drop_single
+  -keep_double -drop_double
+  -keep_triple -drop_triple
+  -keep_quadruple -drop_quadruple
+  -keep_number_of_returns 5
+  -drop_number_of_returns 0
+Filter points based on the scanline flags.
+  -drop_scan_direction 0
+  -keep_scan_direction_change
+  -keep_edge_of_flight_line
+Filter points based on their intensity.
+  -keep_intensity 20 380
+  -drop_intensity_below 20
+  -drop_intensity_above 380
+  -drop_intensity_between 4000 5000
+Filter points based on classifications or flags.
+  -keep_class 1 3 7
+  -drop_class 4 2
+  -keep_extended_class 43
+  -drop_extended_class 129 135
+  -drop_synthetic -keep_synthetic
+  -drop_keypoint -keep_keypoint
+  -drop_withheld -keep_withheld
+  -drop_overlap -keep_overlap
+Filter points based on their user data.
+  -keep_user_data 1
+  -drop_user_data 255
+  -keep_user_data_below 50
+  -keep_user_data_above 150
+  -keep_user_data_between 10 20
+  -drop_user_data_below 1
+  -drop_user_data_above 100
+  -drop_user_data_between 10 40
+Filter points based on their point source ID.
+  -keep_point_source 3
+  -keep_point_source_between 2 6
+  -drop_point_source 27
+  -drop_point_source_below 6
+  -drop_point_source_above 15
+  -drop_point_source_between 17 21
+Filter points based on their scan angle.
+  -keep_scan_angle -15 15
+  -drop_abs_scan_angle_above 15
+  -drop_abs_scan_angle_below 1
+  -drop_scan_angle_below -15
+  -drop_scan_angle_above 15
+  -drop_scan_angle_between -25 -23
+Filter points based on their gps time.
+  -keep_gps_time 11.125 130.725
+  -drop_gps_time_below 11.125
+  -drop_gps_time_above 130.725
+  -drop_gps_time_between 22.0 48.0
+Filter points based on their RGB/CIR/NIR channels.
+  -keep_RGB_red 1 1
+  -keep_RGB_green 30 100
+  -keep_RGB_blue 0 0
+  -keep_RGB_nir 64 127
+  -keep_NDVI 0.2 0.7 -keep_NDVI_from_CIR -0.1 0.5
+  -keep_NDVI_intensity_is_NIR 0.4 0.8 -keep_NDVI_green_is_NIR -0.2 0.2
+Filter points based on their wavepacket.
+  -keep_wavepacket 0
+  -drop_wavepacket 3
+Filter points based on extra attributes.
+  -keep_attribute_above 0 5.0
+  -drop_attribute_below 1 1.5
+Filter points with simple thinning.
+  -keep_every_nth 2 -drop_every_nth 3
+  -keep_random_fraction 0.1
+  -keep_random_fraction 0.1 4711
+  -thin_with_grid 1.0
+  -thin_pulses_with_time 0.0001
+  -thin_points_with_time 0.000001
+Boolean combination of filters.
+  -filter_and
+Transform coordinates.
+  -translate_x -2.5
+  -scale_z 0.3048
+  -rotate_xy 15.0 620000 4100000 (angle + origin)
+  -translate_xyz 0.5 0.5 0
+  -translate_then_scale_y -0.5 1.001
+  -switch_x_y -switch_x_z -switch_y_z
+  -clamp_z_below 70.5
+  -clamp_z 70.5 72.5
+  -copy_attribute_into_z 0
+  -copy_intensity_into_z
+Transform raw xyz integers.
+  -translate_raw_z 20
+  -translate_raw_xyz 1 1 0
+  -translate_raw_xy_at_random 2 2
+  -clamp_raw_z 500 800
+Transform intensity.
+  -set_intensity 0
+  -scale_intensity 2.5
+  -translate_intensity 50
+  -translate_then_scale_intensity 0.5 3.1
+  -clamp_intensity 0 255
+  -clamp_intensity_above 255
+  -copy_RGB_into_intensity
+  -copy_NIR_into_intensity
+Transform scan_angle.
+  -scale_scan_angle 1.944445
+  -translate_scan_angle -5
+  -translate_then_scale_scan_angle -0.5 2.1
+Change the return number or return count of points.
+  -repair_zero_returns
+  -set_return_number 1
+  -set_extended_return_number 10
+  -change_return_number_from_to 2 1
+  -set_number_of_returns 2
+  -set_number_of_returns 15
+  -change_number_of_returns_from_to 0 2
+Modify the classification.
+  -set_classification 2
+  -set_extended_classification 0
+  -change_classification_from_to 2 4
+  -classify_z_below_as -5.0 7
+  -classify_z_above_as 70.0 7
+  -classify_z_between_as 2.0 5.0 4
+  -classify_intensity_above_as 200 9
+  -classify_intensity_below_as 30 11
+  -classify_intensity_between_as 500 900 15
+  -change_extended_classification_from_to 6 46
+  -move_ancient_to_extended_classification
+Change the flags.
+  -set_withheld_flag 0
+  -set_synthetic_flag 1
+  -set_keypoint_flag 0
+  -set_overlap_flag 1
+Modify the extended scanner channel.
+  -set_scanner_channel 2
+  -copy_user_data_into_scanner_channel
+Modify the user data.
+  -set_user_data 0
+  -scale_user_data 1.5
+  -change_user_data_from_to 23 26
+  -change_user_data_from_to 23 26
+  -copy_attribute_into_user_data 1
+Modify the point source ID.
+  -set_point_source 500
+  -change_point_source_from_to 1023 1024
+  -copy_user_data_into_point_source
+  -copy_scanner_channel_into_point_source
+  -merge_scanner_channel_into_point_source
+  -split_scanner_channel_from_point_source
+  -bin_Z_into_point_source 200
+  -bin_abs_scan_angle_into_point_source 2
+Transform gps_time.
+  -set_gps_time 113556962.005715
+  -translate_gps_time 40.50
+  -adjusted_to_week
+  -week_to_adjusted 1671
+Transform RGB/NIR colors.
+  -set_RGB 255 0 127
+  -set_RGB_of_class 9 0 0 255
+  -scale_RGB 2 4 2
+  -scale_RGB_down (by 256)
+  -scale_RGB_up (by 256)
+  -switch_R_G -switch_R_B -switch_B_G
+  -copy_R_into_NIR -copy_R_into_intensity
+  -copy_G_into_NIR -copy_G_into_intensity
+  -copy_B_into_NIR -copy_B_into_intensity
+  -copy_intensity_into_NIR
+Supported LAS Inputs
+  -i lidar.las
+  -i lidar.laz
+  -i lidar1.las lidar2.las lidar3.las -merged
+  -i *.las - merged
+  -i flight0??.laz flight1??.laz
+  -i terrasolid.bin
+  -i esri.shp
+  -i nasa.qi
+  -i lidar.txt -iparse xyzti -iskip 2 (on-the-fly from ASCII)
+  -i lidar.txt -iparse xyzi -itranslate_intensity 1024
+  -lof file_list.txt
+  -stdin (pipe from stdin)
+  -rescale 0.01 0.01 0.001
+  -rescale_xy 0.01 0.01
+  -rescale_z 0.01
+  -reoffset 600000 4000000 0
+Fast AOI Queries for LAS/LAZ with spatial indexing LAX files
+  -inside min_x min_y max_x max_y
+  -inside_tile ll_x ll_y size
+  -inside_circle center_x center_y radius
+Supported LAS Outputs
+  -o lidar.las
+  -o lidar.laz
+  -o xyzta.txt -oparse xyzta (on-the-fly to ASCII)
+  -o terrasolid.bin
+  -o nasa.qi
+  -odir C:\data\ground (specify output directory)
+  -odix _classified (specify file name appendix)
+  -ocut 2 (cut the last two characters from name)
+  -olas -olaz -otxt -obin -oqfit (specify format)
+  -stdout (pipe to stdout)
+  -nil    (pipe to NULL)
+LAStools (by martin@rapidlasso.com) version 180131
+Supported ASCII Inputs:
+  -i lidar.txt
+  -i lidar.txt.gz
+  -i lidar.zip
+  -i lidar.rar
+  -i lidar.7z
+  -stdin (pipe from stdin)
+usage:
+txt2las -parse tsxyz -i lidar.txt.gz
+txt2las -parse xyzairn -i lidar.zip -utm 17T -vertical_navd88 -olaz -set_classification 2 -quiet
+unzip -p lidar.zip | txt2las -parse xyz -stdin -o lidar.las -longlat -elevation_survey_feet
+txt2las -i lidar.zip -parse txyzar -scale_scan_angle 57.3 -o lidar.laz
+txt2las -skip 5 -parse xyz -i lidar.rar -set_file_creation 28 2011 -o lidar.las
+txt2las -parse xyzsst -verbose -set_scale 0.001 0.001 0.001 -i lidar.txt
+txt2las -parse xsysz -set_scale 0.1 0.1 0.01 -i lidar.txt.gz -sp83 OH_N -feet
+las2las -parse tsxyzRGB -i lidar.txt -set_version 1.2 -scale_intensity 65535 -o lidar.las
+txt2las -h
+---------------------------------------------
+The '-parse tsxyz' 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 i - intensity,
+n - number of returns of given pulse, r - number
+of return, c - classification, u - user data, and
+p - point source ID, e - edge of flight line flag, and
+d - direction of scan flag, R - red channel of RGB
+color, G - green channel, B - blue channel, I - NIR channel,
+l - scanner channel, o - overlap flag, h - withheld
+flag, k - keypoint flag, g - synthetic flag, 0 - first
+additional attribute specified, 1 - second additional
+attribute specified, 2 - third ...
+---------------------------------------------
+Other parameters are
+'-set_scale 0.05 0.05 0.001'
+'-set_offset 500000 2000000 0'
+'-set_file_creation 67 2011'
+'-set_system_identifier "Riegl 500,000 Hz"'
+'-set_generating_software "LAStools"'
+'-utm 14T'
+'-sp83 CA_I -feet -elevation_survey_feet'
+'-longlat -elevation_feet'
+
+---------------
+
+if you find bugs let me (martin.isenburg@rapidlasso.com) know.