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

The management and spatial-temporal integration of LiDAR data from different sensors and platforms has been impeded by lack of generic open source tools and standards. This paper presents a new open source software system, the sorted pulse data software library (SPDLib), that provides a processing framework based on an implementation of a new file format for the storage of discrete-return and waveform LiDAR data from terrestrial, airborne and space borne platforms. A python binding and a visualisation tool (SPD Points Viewer), which build on top of the SPDLib and SPD file format have also been provided. The software and source code have recently been made freely available and can be accessed online through an open source code repository. Future developments will focus on the development of advanced waveform processing functionality and optimising IO performance. The software and documentation can be obtained from http://www.spdlib.org.