Sorted pulse data (SPD) library. Part I: A generic file format for LiDAR data from pulsed laser systems in terrestrial environments

► A new open file format for the storage and processing of LiDAR. ► Specific support for the storage of waveform and discrete return data. ► Development of a pulsed based structure with simplifies many situations. ► Explicit inclusion of a spatial index which supports multiple projections.