# Airborne LiDAR Data Manipulation and Visualization for Forestry Applications

## Documentation for package ‘lidR’ version 4.3.2

- DESCRIPTION file.
- User guides, package vignettes and other documentation.
- Package NEWS.

## Help Pages

A B C D E F G H I K L M N O P Q R S T U V W misc

lidR-package | lidR: airborne LiDAR for forestry applications

## -- A --

add_attribute | Add attributes into a LAS object
add_circle3d | Add a spatial object to a point cloud scene
add_dtm3d | Add a spatial object to a point cloud scene
add_flightlines3d | Add a spatial object to a point cloud scene
add_lasattribute | Add attributes into a LAS object
add_lasattribute_manual | Add attributes into a LAS object
add_lasnir | Add attributes into a LAS object
add_lasrgb | Add attributes into a LAS object
add_treetops3d | Add a spatial object to a point cloud scene
aggregate | Metric derivation at different levels of regularization
area-method | Surface covered by a LAS* object
as | Transform to a list
as.list.LASheader | Transform to a list
as.spatial | Older R Spatial Packages
as.spatial.LAS | Older R Spatial Packages
as.spatial.LAScatalog | Older R Spatial Packages
asprs | ASPRS LAS Classification

## -- B --

barycenter_per_voxel | Point Cloud Decimation Algorithm

## -- C --

catalog | Create an object of class LAScatalog
catalog_apply | LAScatalog processing engine
catalog_boundaries | Computes the polygon that encloses the points
catalog_intersect | Subset a LAScatalog
catalog_map | LAScatalog processing engine
catalog_retile | Retile a LAScatalog
catalog_sapply | LAScatalog processing engine
catalog_select | Subset a LAScatalog
catalog_split_clusters | Split a catalog into spatially clustered subsets
catalog_subset | Subset a LAScatalog
classify | Classify points
classify_ground | Classify points
classify_noise | Classify points
classify_poi | Classify points
clip | Clip points in regions of interest
clip_circle | Clip points in regions of interest
clip_polygon | Clip points in regions of interest
clip_rectangle | Clip points in regions of interest
clip_roi | Clip points in regions of interest
clip_transect | Clip points in regions of interest
cloud_metrics | Metric derivation at different levels of regularization
concaveman | Concave and convex hulls for LAS objects
connected_components | Connected-Component Labeling
count_not_quantized | LAS utilities
crown_metrics | Metric derivation at different levels of regularization
crs-method | Get or set the projection of a LAS* object
crs<--method | Get or set the projection of a LAS* object
csf | Ground Segmentation Algorithm

## -- D --

dalponte2016 | Individual Tree Segmentation Algorithm
decimate_points | Decimate a LAS object
delineate_crowns | Older R Spatial Packages
density | Tools inherited from base R for LAS* objects
density-method | Tools inherited from base R for LAS* objects
deprecated | Deprecated functions in lidR
dim.LAS | Tools inherited from base R for LAS* objects
dim.LAScatalog | Tools inherited from base R for LAS* objects
dsmtin | Digital Surface Model Algorithm
dsm_pitfree | Digital Surface Model Algorithm
dsm_point2raster | Digital Surface Model Algorithm
dsm_spikefree | Digital Surface Model Algorithm
dsm_tin | Digital Surface Model Algorithm
dtm_idw | Spatial Interpolation Algorithm
dtm_kriging | Spatial Interpolation Algorithm
dtm_tin | Spatial Interpolation Algorithm

## -- E --

engine | Functions for the LAScatalog processing engine not meant to be called directly by users
engine_apply | Functions for the LAScatalog processing engine not meant to be called directly by users
engine_chunks | Functions for the LAScatalog processing engine not meant to be called directly by users
engine_crop | Functions for the LAScatalog processing engine not meant to be called directly by users
engine_merge | Functions for the LAScatalog processing engine not meant to be called directly by users
engine_options | Get or set LAScatalog processing engine options
engine_write | Functions for the LAScatalog processing engine not meant to be called directly by users
entropy | Predefined non standard metrics
epsg | Get or set the projection of a LAS* object
epsg-method | Get or set the projection of a LAS* object
epsg<- | Get or set the projection of a LAS* object
epsg<--method | Get or set the projection of a LAS* object
evlr | LAS utilities
ext-method | Bounding box of a LAS* object
Extract | Extract or Replace Parts of a LAS* Object

## -- F --

filters | Filter points of interest
filter_duplicates | Filter points of interest
filter_duplicates.LAS | Filter points of interest
filter_duplicates.LAScatalog | Filter points of interest
filter_first | Filter points of interest
filter_firstlast | Filter points of interest
filter_firstofmany | Filter points of interest
filter_ground | Filter points of interest
filter_last | Filter points of interest
filter_nth | Filter points of interest
filter_poi | Filter points of interest
filter_single | Filter points of interest
filter_surfacepoints | Deprecated functions in lidR
filter_surfacepoints.LAS | Deprecated functions in lidR
filter_surfacepoints.LAScatalog | Deprecated functions in lidR
find_trees | Older R Spatial Packages
fit_circle | Fits 2D Circles on a Point Cloud
forest.colors | Plot a LAS* object

## -- G --

gap_fraction_profile | Predefined non standard metrics
Gatziolis2019 | Sensor tracking algorithm
get_lidr_threads | Set or get number of threads that lidR should use
get_range | Intensity normalization algorithm
gnd_csf | Ground Segmentation Algorithm
gnd_mcc | Ground Segmentation Algorithm
gnd_pmf | Ground Segmentation Algorithm
grid_canopy | Older R Spatial Packages
grid_density | Older R Spatial Packages
grid_metrics | Older R Spatial Packages
grid_terrain | Older R Spatial Packages

## -- H --

header | LAS utilities
height.colors | Plot a LAS* object
height_above_ground | Normalize point cloud
hexagon_metrics | Metric derivation at different levels of regularization
highest | Point Cloud Decimation Algorithm
highest_attribute_per_voxel | Point Cloud Decimation Algorithm
homogenize | Point Cloud Decimation Algorithm

## -- I --

index | Spatial index
index<- | Spatial index
interpret_waveform | Convert full waveform data into a regular point cloud
is | A set of boolean tests on objects
is.algorithm | A set of boolean tests on objects
is.empty-method | A set of boolean tests on objects
is.indexed | A set of boolean tests on objects
is.overlapping | A set of boolean tests on objects
is.parallelised | A set of boolean tests on objects
is.quantized | LAS utilities
itd_lmf | Individual Tree Detection Algorithm
itd_manual | Individual Tree Detection Algorithm
its_dalponte2016 | Individual Tree Segmentation Algorithm
its_li2012 | Individual Tree Segmentation Algorithm
its_silva2016 | Individual Tree Segmentation Algorithm
its_watershed | Individual Tree Segmentation Algorithm
ivf | Noise Segmentation Algorithm

## -- K --

knn | Search Nearest Neighbors
knnidw | Spatial Interpolation Algorithm
knnx | Search Nearest Neighbors
knn_distance | Computes the Distance to k-Nearest Neighbors
kriging | Spatial Interpolation Algorithm

## -- L --

LAD | Predefined non standard metrics
LAS | An S4 class to represent a .las or .laz file
LAS-class | An S4 class to represent a .las or .laz file
LASBRIGDE | ASPRS LAS Classification
LASBUILDING | ASPRS LAS Classification
LAScatalog-class | An S4 class to represent a collection of .las or .laz files
LASGROUND | ASPRS LAS Classification
LASheader | Create a 'LASheader' object
LASheader-class | An S4 class to represent the header of .las or .laz files
LASHIGHVEGETATION | ASPRS LAS Classification
LASKEYPOINT | ASPRS LAS Classification
LASLOWPOINT | ASPRS LAS Classification
LASLOWVEGETATION | ASPRS LAS Classification
LASMEDIUMVEGETATION | ASPRS LAS Classification
LASNOISE | ASPRS LAS Classification
LASNONCLASSIFIED | ASPRS LAS Classification
LASRAIL | ASPRS LAS Classification
LASROADSURFACE | ASPRS LAS Classification
LASTRANSMISSIONTOWER | ASPRS LAS Classification
LASUNCLASSIFIED | ASPRS LAS Classification
LASWATER | ASPRS LAS Classification
LASWIRECONDUCTOR | ASPRS LAS Classification
LASWIREGUARD | ASPRS LAS Classification
las_check | Inspect a LAS object
las_compression | Compression of the point cloud
las_is_compressed | Compression of the point cloud
las_quantize | LAS utilities
las_reoffset | LAS utilities
las_rescale | LAS utilities
las_size | Compression of the point cloud
las_update | LAS utilities
las_utilities | LAS utilities
li2012 | Individual Tree Segmentation Algorithm
lidR | lidR: airborne LiDAR for forestry applications
lidR-LAScatalog-drivers | LAScatalog drivers
lidR-parallelism | Parallel computation in lidR
lidR-spatial-index | Spatial index
lmf | Individual Tree Detection Algorithm
locate_trees | Individual tree detection
lowest | Point Cloud Decimation Algorithm
lowest_attribute_per_voxel | Point Cloud Decimation Algorithm
lspikefree | Digital Surface Model Algorithm

## -- M --

manual | Individual Tree Detection Algorithm
mcc | Ground Segmentation Algorithm
merge_spatial | Merge a point cloud with a source of spatial data

## -- N --

names.LAS | Tools inherited from base R for LAS* objects
names.LASheader | Tools inherited from base R for LAS* objects
ncol.LAS | Tools inherited from base R for LAS* objects
noise_ivf | Noise Segmentation Algorithm
noise_sor | Noise Segmentation Algorithm
normalize | Normalize point cloud
normalize_height | Normalize point cloud
normalize_intensity | Normalize point cloud
npoints | Tools inherited from base R for LAS* objects
nrow.LAScatalog | Tools inherited from base R for LAS* objects
nstdmetrics | Predefined non standard metrics

## -- O --

old_spatial_packages | Older R Spatial Packages
opt_chunk_alignment | Get or set LAScatalog processing engine options
opt_chunk_alignment<- | Get or set LAScatalog processing engine options
opt_chunk_buffer | Get or set LAScatalog processing engine options
opt_chunk_buffer<- | Get or set LAScatalog processing engine options
opt_chunk_size | Get or set LAScatalog processing engine options
opt_chunk_size<- | Get or set LAScatalog processing engine options
opt_filter | Get or set LAScatalog processing engine options
opt_filter<- | Get or set LAScatalog processing engine options
opt_independent_files | Get or set LAScatalog processing engine options
opt_independent_files<- | Get or set LAScatalog processing engine options
opt_laz_compression | Get or set LAScatalog processing engine options
opt_laz_compression<- | Get or set LAScatalog processing engine options
opt_merge | Get or set LAScatalog processing engine options
opt_merge<- | Get or set LAScatalog processing engine options
opt_output_files | Get or set LAScatalog processing engine options
opt_output_files<- | Get or set LAScatalog processing engine options
opt_progress | Get or set LAScatalog processing engine options
opt_progress<- | Get or set LAScatalog processing engine options
opt_restart<- | Get or set LAScatalog processing engine options
opt_select | Get or set LAScatalog processing engine options
opt_select<- | Get or set LAScatalog processing engine options
opt_stop_early | Get or set LAScatalog processing engine options
opt_stop_early<- | Get or set LAScatalog processing engine options
opt_wall_to_wall | Get or set LAScatalog processing engine options
opt_wall_to_wall<- | Get or set LAScatalog processing engine options

## -- P --

p2r | Digital Surface Model Algorithm
pastel.colors | Plot a LAS* object
payload | LAS utilities
phb | LAS utilities
pitfill_stonge2008 | Pits and spikes filling
pitfree | Digital Surface Model Algorithm
pixel_metrics | Metric derivation at different levels of regularization
plot | Plot a LAS* object
plot-method | Plot a LAS* object
plot.lasmetrics3d | Plot voxelized LiDAR data
plot_3d | Add a spatial object to a point cloud scene
plot_dtm3d | Add a spatial object to a point cloud scene
plot_metrics | Metric derivation at different levels of regularization
plugins | Plugin system
plugin_decimate | Plugin system
plugin_dsm | Plugin system
plugin_dtm | Plugin system
plugin_gnd | Plugin system
plugin_itd | Plugin system
plugin_its | Plugin system
plugin_nintensity | Plugin system
plugin_outliers | Plugin system
plugin_shape | Plugin system
plugin_snag | Plugin system
plugin_track | Plugin system
pmf | Ground Segmentation Algorithm
point_eigenvalues | Point-based metrics
point_metrics | Point-based metrics
polygon_metrics | Metric derivation at different levels of regularization
print.LAS | Tools inherited from base R for LAS* objects
print.LAScatalog | Tools inherited from base R for LAS* objects
print.lidRAlgorithm | Tools inherited from base R for LAS* objects
print.raster_template | Tools inherited from base R for LAS* objects
projection | Get or set the projection of a LAS* object
projection<- | Get or set the projection of a LAS* object
ptd | Progressive TIN Densification

## -- Q --

quantize | LAS utilities

## -- R --

random | Point Cloud Decimation Algorithm
random.colors | Plot a LAS* object
random_per_voxel | Point Cloud Decimation Algorithm
range_correction | Intensity normalization algorithm
rasterize | Rasterize a point cloud
rasterize_canopy | Rasterize a point cloud
rasterize_density | Rasterize a point cloud
rasterize_terrain | Rasterize a point cloud
rbind.LAS | Tools inherited from base R for LAS* objects
readALS | Read .las or .laz files
readALScatalog | Create an object of class LAScatalog
readALSLAS | Deprecated functions in lidR
readALSLAScatalog | Deprecated functions in lidR
readDAPLAS | Deprecated functions in lidR
readDAPLAScatalog | Deprecated functions in lidR
readLAS | Read .las or .laz files
readLAScatalog | Create an object of class LAScatalog
readLASheader | Read a .las or .laz file header
readMSLAS | Read .las or .laz files
readTLS | Read .las or .laz files
readTLScatalog | Create an object of class LAScatalog
readTLSLAS | Deprecated functions in lidR
readTLSLAScatalog | Deprecated functions in lidR
readUAVLAS | Deprecated functions in lidR
readUAVLAScatalog | Deprecated functions in lidR
remove_ground | Filter points of interest
remove_lasattribute | Add attributes into a LAS object
remove_noise | Filter points of interest
remove_water | Filter points of interest
retrieve_flightlines | Retrieve individual pulses, flightlines or scanlines
retrieve_pulses | Retrieve individual pulses, flightlines or scanlines
retrieve_scanlines | Retrieve individual pulses, flightlines or scanlines
Roussel2020 | Sensor tracking algorithm
rumple_index | Predefined non standard metrics

## -- S --

sample_homogenize | Point Cloud Decimation Algorithm
sample_maxima | Point Cloud Decimation Algorithm
sample_per_voxel | Point Cloud Decimation Algorithm
sample_random | Point Cloud Decimation Algorithm
segment | Segment a point cloud
segment_shapes | Segment a point cloud
segment_snags | Segment a point cloud
segment_trees | Segment a point cloud
sensor | Spatial index
sensor<- | Spatial index
set_lidr_threads | Set or get number of threads that lidR should use
shape_detection | Algorithms for shape detection of the local point neighbourhood
shp_hline | Algorithms for shape detection of the local point neighbourhood
shp_hplane | Algorithms for shape detection of the local point neighbourhood
shp_line | Algorithms for shape detection of the local point neighbourhood
shp_plane | Algorithms for shape detection of the local point neighbourhood
shp_vline | Algorithms for shape detection of the local point neighbourhood
silva2016 | Individual Tree Segmentation Algorithm
smooth_height | Smooth a point cloud
snag_wing2015 | Snags Segmentation Algorithm
sor | Noise Segmentation Algorithm
spikefree | Digital Surface Model Algorithm
stdmetrics | Predefined standard metrics functions
stdmetrics_ctrl | Predefined standard metrics functions
stdmetrics_i | Predefined standard metrics functions
stdmetrics_pulse | Predefined standard metrics functions
stdmetrics_rn | Predefined standard metrics functions
stdmetrics_z | Predefined standard metrics functions
stdshapemetrics | Predefined standard metrics functions
stdtreemetrics | Predefined standard metrics functions
storable_coordinate_range | LAS utilities
st_area | Surface covered by a LAS* object
st_area.LAS | Surface covered by a LAS* object
st_area.LAScatalog | Surface covered by a LAS* object
st_area.LASheader | Surface covered by a LAS* object
st_bbox | Bounding box of a LAS* object
st_bbox.LAS | Bounding box of a LAS* object
st_bbox.LAScatalog | Bounding box of a LAS* object
st_bbox.LAScluster | Bounding box of a LAS* object
st_bbox.LASheader | Bounding box of a LAS* object
st_concave_hull | Concave and convex hulls for LAS objects
st_convex_hull.LAS | Concave and convex hulls for LAS objects
st_coordinates | Coordinates of a LAS* object in a matrix form
st_coordinates.LAS | Coordinates of a LAS* object in a matrix form
st_coordinates.LAScatalog | Coordinates of a LAS* object in a matrix form
st_crs | Get or set the projection of a LAS* object
st_crs.LAS | Get or set the projection of a LAS* object
st_crs.LAScatalog | Get or set the projection of a LAS* object
st_crs.LAScluster | Get or set the projection of a LAS* object
st_crs.LASheader | Get or set the projection of a LAS* object
st_crs<- | Get or set the projection of a LAS* object
st_crs<-.LAS | Get or set the projection of a LAS* object
st_crs<-.LAScatalog | Get or set the projection of a LAS* object
st_crs<-.LASheader | Get or set the projection of a LAS* object
st_hull | Concave and convex hulls for LAS objects
st_transform | Transform or convert coordinates of LAS objects
st_transform.LAS | Transform or convert coordinates of LAS objects
summary.LAS | Tools inherited from base R for LAS* objects
summary.LAScatalog | Tools inherited from base R for LAS* objects

## -- T --

template_metrics | Metric derivation at different levels of regularization
tin | Spatial Interpolation Algorithm
tools | Tools inherited from base R for LAS* objects
track_sensor | Reconstruct the trajectory of the LiDAR sensor using multiple returns
track_sensor_gatziolis2019 | Sensor tracking algorithm
track_sensor_roussel2020 | Sensor tracking algorithm
tree_metrics | Older R Spatial Packages

## -- U --

unnormalize_height | Normalize point cloud
unsmooth_height | Smooth a point cloud
util_makeZhangParam | Ground Segmentation Algorithm

## -- V --

VCI | Predefined non standard metrics
vlr | LAS utilities
voxelize_points | Voxelize a point cloud
voxel_metrics | Metric derivation at different levels of regularization

## -- W --

watershed | Individual Tree Segmentation Algorithm
wing2015 | Snags Segmentation Algorithm
wkt | Get or set the projection of a LAS* object
wkt-method | Get or set the projection of a LAS* object
wkt<- | Get or set the projection of a LAS* object
wkt<--method | Get or set the projection of a LAS* object
writeLAS | Write a .las or .laz file

## -- misc --

$-method | Extract or Replace Parts of a LAS* Object
$<--method | Extract or Replace Parts of a LAS* Object
--method | Normalize point cloud
.stdmetrics | Predefined standard metrics functions
.stdmetrics_ctrl | Predefined standard metrics functions
.stdmetrics_i | Predefined standard metrics functions
.stdmetrics_pulse | Predefined standard metrics functions
.stdmetrics_rn | Predefined standard metrics functions
.stdmetrics_z | Predefined standard metrics functions
.stdshapemetrics | Predefined standard metrics functions
.stdtreemetrics | Predefined standard metrics functions
[-method | Extract or Replace Parts of a LAS* Object
[[-method | Extract or Replace Parts of a LAS* Object
[[<--method | Extract or Replace Parts of a LAS* Object