Tools to Process Point Clouds Derived from Terrestrial Laser Scanning

A set of tools to process and calculate metrics on point clouds derived from terrestrial LiDAR (Light Detection and Ranging; TLS). Its creation is based on key aspects of the TLS application in forestry and ecology. Currently, the main routines are based on filtering, neighboring features of points, voxelization, canopy structure, and the creation of artificial stands. It is written using data.table and C++ language and in most of the functions it is possible to use parallel processing to speed-up the routines.


Reference manual

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install.packages("rTLS") by J. Antonio Guzmán Q., a month ago

Report a bug at

Browse source code at

Authors: J. Antonio Guzmán Q. [cre, aut, ths, cph] , Ronny Hernandez [aut] , Arturo Sanchez-Azofeifa [dgs, sad]

Documentation:   PDF Manual  

GPL (>= 3) license

Imports alphashape3d, boot, doSNOW, foreach, parallel, Rcpp, RcppProgress, RcppHNSW, rgeos, rgl, sp

Depends on data.table

Suggests knitr, rmarkdown, covr, testthat

Linking to Rcpp, RcppArmadillo, RcppProgress

System requirements: GNU make

See at CRAN