This work is supported by the Centre for DIgital Entertainment at the University of Bath, and Plymouth Marine Laboratory. 

The code is released under the GNU General Public License v3.0.

The program reads a LAS1.3 file under the LAS specification version 1.3-R11 released October 24, 2010 (Available at: http://www.asprs.org/a/society/committees/standards/LAS_1_3_r11.pdf), using only the Point Data Record Format 4.

The original script was written in Python and it's available here: https://github.com/pmlrsg/arsf_tools and a lot of the comments were copied that Python script and the LAS1.3 file specifications

For testing the system, please download and the LDR-FW-FW10_01-201009821.LAS file from: https://rsg.pml.ac.uk/shared_files/arsf/DASOS/
"These data were collected by the NERC Airborne Research and Survey
Facility (ARSF). Copyright is held by the UK Natural Environment
Research Council (NERC). The data are free for non-commercial use,
NERC-ARSF must be acknowledged in any publications, software or other
media that make use of these data."


Authors:
Milto Miltiadou
([email protected])

Dependancies:
- GMTL library
- c++11


Example of output:
-------------------

2571649 waveforms found
3482887 discrete points found
There are 3745825 Discrete Without Waveforms
----------------------------------------------------------
the pulse manager has : 2571649 pulses
Point                            4.3741e+05 1.0475e+05 13.079
Return Number                    
Number of returns for this pulse 
Time                             3.8816e+05
Scan Angle                       �
Classification                   
Temporal Sample Spacing          2
AGC gain                         �
Digitiser Gain                   0.017291
Digitiser Offset                 0
No. of Samples                   256
Sample Length                    0.29979
Return Point Location            21.831
Point in Waveform                3.2724
Offset                           0.034034 -0.010955 0.29757
Origin                           4.3741e+05 1.0475e+05 16.327
Waveform Samples: ( x , y , z , I ):
( 4.3741e+05 , 1.0475e+05 , 16.327 , 14 )
( 4.3741e+05 , 1.0475e+05 , 16.03 , 14 )
( 4.3741e+05 , 1.0475e+05 , 15.732 , 14 )
( 4.3741e+05 , 1.0475e+05 , 15.434 , 14 )
( 4.3741e+05 , 1.0475e+05 , 15.137 , 14 )
( 4.3741e+05 , 1.0475e+05 , 14.839 , 13 )
( 4.3741e+05 , 1.0475e+05 , 14.542 , 14 )
( 4.3741e+05 , 1.0475e+05 , 14.244 , 15 )
( 4.3741e+05 , 1.0475e+05 , 13.947 , 22 )
( 4.3741e+05 , 1.0475e+05 , 13.649 , 52 )
( 4.3741e+05 , 1.0475e+05 , 13.351 , 81 )
( 4.3741e+05 , 1.0475e+05 , 13.054 , 96 )
( 4.3741e+05 , 1.0475e+05 , 12.756 , 81 )
( 4.3741e+05 , 1.0475e+05 , 12.459 , 48 )
( 4.3741e+05 , 1.0475e+05 , 12.161 , 39 )
( 4.3741e+05 , 1.0475e+05 , 11.864 , 32 )
( 4.3741e+05 , 1.0475e+05 , 11.566 , 22 )
( 4.3741e+05 , 1.0475e+05 , 11.268 , 14 )
( 4.3741e+05 , 1.0475e+05 , 10.971 , 13 )
( 4.3741e+05 , 1.0475e+05 , 10.673 , 12 )
( 4.3741e+05 , 1.0475e+05 , 10.376 , 11 )
( 4.3741e+05 , 1.0475e+05 , 10.078 , 11 )
( 4.3741e+05 , 1.0475e+05 , 9.7805 , 12 )
( 4.3741e+05 , 1.0475e+05 , 9.483 , 13 )
( 4.3741e+05 , 1.0475e+05 , 9.1854 , 13 )
( 4.3741e+05 , 1.0475e+05 , 8.8878 , 13 )
( 4.3741e+05 , 1.0475e+05 , 8.5902 , 13 )
( 4.3741e+05 , 1.0475e+05 , 8.2927 , 13 )
( 4.3741e+05 , 1.0475e+05 , 7.9951 , 13 )
( 4.3741e+05 , 1.0475e+05 , 7.6975 , 13 )
( 4.3741e+05 , 1.0475e+05 , 7.3999 , 14 )
( 4.3741e+05 , 1.0475e+05 , 7.1024 , 13 )
( 4.3741e+05 , 1.0475e+05 , 6.8048 , 13 )
( 4.3741e+05 , 1.0475e+05 , 6.5072 , 14 )
( 4.3741e+05 , 1.0475e+05 , 6.2096 , 15 )
( 4.3741e+05 , 1.0475e+05 , 5.9121 , 16 )
( 4.3741e+05 , 1.0475e+05 , 5.6145 , 15 )
( 4.3741e+05 , 1.0475e+05 , 5.3169 , 13 )
( 4.3741e+05 , 1.0475e+05 , 5.0194 , 13 )
( 4.3741e+05 , 1.0475e+05 , 4.7218 , 13 )
( 4.3741e+05 , 1.0475e+05 , 4.4242 , 14 )
( 4.3741e+05 , 1.0475e+05 , 4.1266 , 13 )
( 4.3741e+05 , 1.0475e+05 , 3.8291 , 12 )
( 4.3741e+05 , 1.0475e+05 , 3.5315 , 12 )
( 4.3741e+05 , 1.0475e+05 , 3.2339 , 13 )
( 4.3741e+05 , 1.0475e+05 , 2.9363 , 13 )
( 4.3741e+05 , 1.0475e+05 , 2.6388 , 12 )
( 4.3741e+05 , 1.0475e+05 , 2.3412 , 12 )
( 4.3741e+05 , 1.0475e+05 , 2.0436 , 13 )
( 4.3741e+05 , 1.0475e+05 , 1.7461 , 14 )
( 4.3741e+05 , 1.0475e+05 , 1.4485 , 15 )
( 4.3741e+05 , 1.0475e+05 , 1.1509 , 14 )
( 4.3741e+05 , 1.0475e+05 , 0.85334 , 13 )
( 4.3741e+05 , 1.0475e+05 , 0.55577 , 13 )
( 4.3741e+05 , 1.0475e+05 , 0.25819 , 14 )
( 4.3741e+05 , 1.0475e+05 , -0.039378 , 14 )
( 4.3741e+05 , 1.0475e+05 , -0.33695 , 14 )
( 4.3741e+05 , 1.0475e+05 , -0.63452 , 14 )
( 4.3741e+05 , 1.0475e+05 , -0.9321 , 14 )
( 4.3741e+05 , 1.0475e+05 , -1.2297 , 13 )
( 4.3741e+05 , 1.0475e+05 , -1.5272 , 13 )
( 4.3741e+05 , 1.0475e+05 , -1.8248 , 13 )
( 4.3741e+05 , 1.0475e+05 , -2.1224 , 15 )
( 4.3741e+05 , 1.0475e+05 , -2.42 , 14 )
( 4.3741e+05 , 1.0475e+05 , -2.7175 , 15 )
( 4.3741e+05 , 1.0475e+05 , -3.0151 , 14 )
( 4.3741e+05 , 1.0475e+05 , -3.3127 , 14 )
( 4.3741e+05 , 1.0475e+05 , -3.6103 , 13 )
( 4.3741e+05 , 1.0475e+05 , -3.9078 , 14 )
( 4.3741e+05 , 1.0475e+05 , -4.2054 , 14 )
( 4.3741e+05 , 1.0475e+05 , -4.503 , 13 )
( 4.3741e+05 , 1.0475e+05 , -4.8005 , 13 )
( 4.3741e+05 , 1.0475e+05 , -5.0981 , 13 )
( 4.3741e+05 , 1.0475e+05 , -5.3957 , 13 )
( 4.3741e+05 , 1.0475e+05 , -5.6933 , 13 )
( 4.3741e+05 , 1.0475e+05 , -5.9908 , 13 )
( 4.3741e+05 , 1.0475e+05 , -6.2884 , 14 )
( 4.3741e+05 , 1.0475e+05 , -6.586 , 13 )
( 4.3741e+05 , 1.0475e+05 , -6.8836 , 13 )
( 4.3741e+05 , 1.0475e+05 , -7.1811 , 13 )
( 4.3741e+05 , 1.0475e+05 , -7.4787 , 13 )
( 4.3741e+05 , 1.0475e+05 , -7.7763 , 12 )
( 4.3741e+05 , 1.0475e+05 , -8.0738 , 12 )
( 4.3741e+05 , 1.0475e+05 , -8.3714 , 12 )
( 4.3741e+05 , 1.0475e+05 , -8.669 , 12 )
( 4.3741e+05 , 1.0475e+05 , -8.9666 , 12 )
( 4.3741e+05 , 1.0475e+05 , -9.2641 , 12 )
( 4.3741e+05 , 1.0475e+05 , -9.5617 , 13 )
( 4.3741e+05 , 1.0475e+05 , -9.8593 , 13 )
( 4.3741e+05 , 1.0475e+05 , -10.157 , 13 )
( 4.3741e+05 , 1.0475e+05 , -10.454 , 14 )
( 4.3741e+05 , 1.0475e+05 , -10.752 , 14 )
( 4.3741e+05 , 1.0475e+05 , -11.05 , 14 )
( 4.3741e+05 , 1.0475e+05 , -11.347 , 14 )
( 4.3741e+05 , 1.0475e+05 , -11.645 , 14 )
( 4.3741e+05 , 1.0475e+05 , -11.942 , 14 )
( 4.3741e+05 , 1.0475e+05 , -12.24 , 14 )
( 4.3741e+05 , 1.0475e+05 , -12.537 , 14 )
( 4.3741e+05 , 1.0475e+05 , -12.835 , 14 )
( 4.3741e+05 , 1.0475e+05 , -13.133 , 14 )
( 4.3741e+05 , 1.0475e+05 , -13.43 , 14 )
( 4.3741e+05 , 1.0475e+05 , -13.728 , 13 )
( 4.3741e+05 , 1.0475e+05 , -14.025 , 12 )
( 4.3741e+05 , 1.0475e+05 , -14.323 , 13 )
( 4.3741e+05 , 1.0475e+05 , -14.62 , 14 )
( 4.3741e+05 , 1.0475e+05 , -14.918 , 15 )
( 4.3741e+05 , 1.0475e+05 , -15.216 , 14 )
( 4.3741e+05 , 1.0475e+05 , -15.513 , 14 )
( 4.3741e+05 , 1.0475e+05 , -15.811 , 15 )
( 4.3741e+05 , 1.0475e+05 , -16.108 , 15 )
( 4.3741e+05 , 1.0475e+05 , -16.406 , 14 )
( 4.3741e+05 , 1.0475e+05 , -16.703 , 13 )
( 4.3741e+05 , 1.0475e+05 , -17.001 , 13 )
( 4.3741e+05 , 1.0475e+05 , -17.299 , 12 )
( 4.3741e+05 , 1.0475e+05 , -17.596 , 13 )
( 4.3741e+05 , 1.0475e+05 , -17.894 , 13 )
( 4.3741e+05 , 1.0475e+05 , -18.191 , 14 )
( 4.3741e+05 , 1.0475e+05 , -18.489 , 13 )
( 4.3741e+05 , 1.0475e+05 , -18.786 , 13 )
( 4.3741e+05 , 1.0475e+05 , -19.084 , 13 )
( 4.3741e+05 , 1.0475e+05 , -19.382 , 13 )
( 4.3741e+05 , 1.0475e+05 , -19.679 , 12 )
( 4.3741e+05 , 1.0475e+05 , -19.977 , 13 )
( 4.3741e+05 , 1.0475e+05 , -20.274 , 12 )
( 4.3741e+05 , 1.0475e+05 , -20.572 , 12 )
( 4.3741e+05 , 1.0475e+05 , -20.869 , 13 )
( 4.3741e+05 , 1.0475e+05 , -21.167 , 13 )
( 4.3741e+05 , 1.0475e+05 , -21.465 , 12 )
( 4.3741e+05 , 1.0475e+05 , -21.762 , 13 )
( 4.3741e+05 , 1.0475e+05 , -22.06 , 13 )
( 4.3741e+05 , 1.0475e+05 , -22.357 , 13 )
( 4.3741e+05 , 1.0475e+05 , -22.655 , 12 )
( 4.3741e+05 , 1.0475e+05 , -22.952 , 13 )
( 4.3741e+05 , 1.0475e+05 , -23.25 , 13 )
( 4.3741e+05 , 1.0475e+05 , -23.548 , 13 )
( 4.3741e+05 , 1.0475e+05 , -23.845 , 13 )
( 4.3741e+05 , 1.0475e+05 , -24.143 , 14 )
( 4.3741e+05 , 1.0475e+05 , -24.44 , 13 )
( 4.3741e+05 , 1.0475e+05 , -24.738 , 13 )
( 4.3741e+05 , 1.0475e+05 , -25.036 , 13 )
( 4.3741e+05 , 1.0475e+05 , -25.333 , 13 )
( 4.3741e+05 , 1.0475e+05 , -25.631 , 12 )
( 4.3741e+05 , 1.0475e+05 , -25.928 , 13 )
( 4.3741e+05 , 1.0475e+05 , -26.226 , 13 )
( 4.3741e+05 , 1.0475e+05 , -26.523 , 14 )
( 4.3741e+05 , 1.0475e+05 , -26.821 , 13 )
( 4.3741e+05 , 1.0475e+05 , -27.119 , 12 )
( 4.3741e+05 , 1.0475e+05 , -27.416 , 12 )
( 4.3741e+05 , 1.0475e+05 , -27.714 , 12 )
( 4.3741e+05 , 1.0475e+05 , -28.011 , 13 )
( 4.3741e+05 , 1.0475e+05 , -28.309 , 13 )
( 4.3741e+05 , 1.0475e+05 , -28.606 , 13 )
( 4.3741e+05 , 1.0475e+05 , -28.904 , 13 )
( 4.3741e+05 , 1.0475e+05 , -29.202 , 13 )
( 4.3741e+05 , 1.0475e+05 , -29.499 , 13 )
( 4.3741e+05 , 1.0475e+05 , -29.797 , 13 )
( 4.3741e+05 , 1.0475e+05 , -30.094 , 13 )
( 4.3741e+05 , 1.0475e+05 , -30.392 , 13 )
( 4.3741e+05 , 1.0475e+05 , -30.689 , 13 )
( 4.3741e+05 , 1.0475e+05 , -30.987 , 13 )
( 4.3741e+05 , 1.0475e+05 , -31.285 , 12 )
( 4.3741e+05 , 1.0475e+05 , -31.582 , 11 )
( 4.3741e+05 , 1.0475e+05 , -31.88 , 12 )
( 4.3741e+05 , 1.0475e+05 , -32.177 , 12 )
( 4.3741e+05 , 1.0475e+05 , -32.475 , 13 )
( 4.3741e+05 , 1.0475e+05 , -32.772 , 13 )
( 4.3741e+05 , 1.0475e+05 , -33.07 , 12 )
( 4.3741e+05 , 1.0475e+05 , -33.368 , 12 )
( 4.3741e+05 , 1.0475e+05 , -33.665 , 13 )
( 4.3741e+05 , 1.0475e+05 , -33.963 , 13 )
( 4.3741e+05 , 1.0475e+05 , -34.26 , 13 )
( 4.3741e+05 , 1.0475e+05 , -34.558 , 13 )
( 4.3741e+05 , 1.0475e+05 , -34.855 , 14 )
( 4.3741e+05 , 1.0475e+05 , -35.153 , 13 )
( 4.3741e+05 , 1.0475e+05 , -35.451 , 13 )
( 4.3741e+05 , 1.0475e+05 , -35.748 , 13 )
( 4.3741e+05 , 1.0475e+05 , -36.046 , 14 )
( 4.3741e+05 , 1.0475e+05 , -36.343 , 12 )
( 4.3741e+05 , 1.0475e+05 , -36.641 , 13 )
( 4.3741e+05 , 1.0475e+05 , -36.938 , 13 )
( 4.3741e+05 , 1.0475e+05 , -37.236 , 13 )
( 4.3741e+05 , 1.0475e+05 , -37.534 , 13 )
( 4.3741e+05 , 1.0475e+05 , -37.831 , 13 )
( 4.3741e+05 , 1.0475e+05 , -38.129 , 12 )
( 4.3741e+05 , 1.0475e+05 , -38.426 , 13 )
( 4.3741e+05 , 1.0475e+05 , -38.724 , 13 )
( 4.3741e+05 , 1.0475e+05 , -39.021 , 13 )
( 4.3741e+05 , 1.0475e+05 , -39.319 , 13 )
( 4.3741e+05 , 1.0475e+05 , -39.617 , 14 )
( 4.3741e+05 , 1.0475e+05 , -39.914 , 14 )
( 4.3741e+05 , 1.0475e+05 , -40.212 , 14 )
( 4.3741e+05 , 1.0475e+05 , -40.509 , 13 )
( 4.3741e+05 , 1.0475e+05 , -40.807 , 12 )
( 4.3741e+05 , 1.0475e+05 , -41.104 , 13 )
( 4.3741e+05 , 1.0475e+05 , -41.402 , 14 )
( 4.3741e+05 , 1.0475e+05 , -41.7 , 14 )
( 4.3741e+05 , 1.0475e+05 , -41.997 , 14 )
( 4.3741e+05 , 1.0475e+05 , -42.295 , 13 )
( 4.3741e+05 , 1.0475e+05 , -42.592 , 14 )
( 4.3741e+05 , 1.0475e+05 , -42.89 , 13 )
( 4.3741e+05 , 1.0475e+05 , -43.187 , 13 )
( 4.3741e+05 , 1.0475e+05 , -43.485 , 13 )
( 4.3741e+05 , 1.0475e+05 , -43.783 , 13 )
( 4.3741e+05 , 1.0475e+05 , -44.08 , 13 )
( 4.3741e+05 , 1.0475e+05 , -44.378 , 14 )
( 4.3741e+05 , 1.0475e+05 , -44.675 , 13 )
( 4.3741e+05 , 1.0475e+05 , -44.973 , 13 )
( 4.3741e+05 , 1.0475e+05 , -45.27 , 13 )
( 4.3741e+05 , 1.0475e+05 , -45.568 , 14 )
( 4.3741e+05 , 1.0475e+05 , -45.866 , 14 )
( 4.3741e+05 , 1.0475e+05 , -46.163 , 14 )
( 4.3741e+05 , 1.0475e+05 , -46.461 , 13 )
( 4.3741e+05 , 1.0475e+05 , -46.758 , 13 )
( 4.3741e+05 , 1.0475e+05 , -47.056 , 12 )
( 4.3741e+05 , 1.0475e+05 , -47.353 , 13 )
( 4.3741e+05 , 1.0475e+05 , -47.651 , 13 )
( 4.3741e+05 , 1.0475e+05 , -47.949 , 13 )
( 4.3741e+05 , 1.0475e+05 , -48.246 , 12 )
( 4.3741e+05 , 1.0475e+05 , -48.544 , 13 )
( 4.3741e+05 , 1.0475e+05 , -48.841 , 14 )
( 4.3741e+05 , 1.0475e+05 , -49.139 , 14 )
( 4.3741e+05 , 1.0475e+05 , -49.437 , 13 )
( 4.3741e+05 , 1.0475e+05 , -49.734 , 13 )
( 4.3741e+05 , 1.0475e+05 , -50.032 , 13 )
( 4.3741e+05 , 1.0475e+05 , -50.329 , 14 )
( 4.3741e+05 , 1.0475e+05 , -50.627 , 14 )
( 4.3741e+05 , 1.0475e+05 , -50.924 , 15 )
( 4.3741e+05 , 1.0475e+05 , -51.222 , 13 )
( 4.3741e+05 , 1.0475e+05 , -51.52 , 13 )
( 4.3741e+05 , 1.0475e+05 , -51.817 , 13 )
( 4.3741e+05 , 1.0475e+05 , -52.115 , 13 )
( 4.3741e+05 , 1.0475e+05 , -52.412 , 12 )
( 4.3741e+05 , 1.0475e+05 , -52.71 , 13 )
( 4.3741e+05 , 1.0475e+05 , -53.007 , 13 )
( 4.3741e+05 , 1.0475e+05 , -53.305 , 13 )
( 4.3741e+05 , 1.0475e+05 , -53.603 , 14 )
( 4.3741e+05 , 1.0475e+05 , -53.9 , 13 )
( 4.3741e+05 , 1.0475e+05 , -54.198 , 13 )
( 4.3741e+05 , 1.0475e+05 , -54.495 , 14 )
( 4.3741e+05 , 1.0475e+05 , -54.793 , 14 )
( 4.3741e+05 , 1.0475e+05 , -55.09 , 13 )
( 4.3741e+05 , 1.0475e+05 , -55.388 , 13 )
( 4.3741e+05 , 1.0475e+05 , -55.686 , 13 )
( 4.374e+05 , 1.0475e+05 , -55.983 , 14 )
( 4.374e+05 , 1.0475e+05 , -56.281 , 14 )
( 4.374e+05 , 1.0475e+05 , -56.578 , 12 )
( 4.374e+05 , 1.0475e+05 , -56.876 , 12 )
( 4.374e+05 , 1.0475e+05 , -57.173 , 12 )
( 4.374e+05 , 1.0475e+05 , -57.471 , 13 )
( 4.374e+05 , 1.0475e+05 , -57.769 , 13 )
( 4.374e+05 , 1.0475e+05 , -58.066 , 13 )
( 4.374e+05 , 1.0475e+05 , -58.364 , 13 )
( 4.374e+05 , 1.0475e+05 , -58.661 , 13 )
( 4.374e+05 , 1.0475e+05 , -58.959 , 13 )
( 4.374e+05 , 1.0475e+05 , -59.256 , 13 )
( 4.374e+05 , 1.0475e+05 , -59.554 , 13 )

Associated discrete points (x , y  , z , I):
( 4.3741e+05 , 1.0475e+05 , 13.079 , 150