Sorted pulse data (SPD) library-Part II: A processing framework for LiDAR data from pulsed laser systems in terrestrial environments

► A new open source systems for the processing of LiDAR data. ► Specific support for the storage of waveform and discrete return data. ► Builds on an innovated new file format (SPD). ► Written in C++ but provides interfaces to higher level languages (e.g., python). ► Provides a high quality visualisation tool.