Package: lidR 4.3.2

Jean-Romain Roussel

lidR: Airborne LiDAR Data Manipulation and Visualization for Forestry Applications

Airborne LiDAR (Light Detection and Ranging) interface for data manipulation and visualization. Read/write 'las' and 'laz' files, computation of metrics in area based approach, point filtering, artificial point reduction, classification from geographic data, normalization, individual tree segmentation and other manipulations.

Authors:Jean-Romain Roussel [aut, cre, cph], David Auty [aut, ctb], Florian De Boissieu [ctb], Andrew Sánchez Meador [ctb], Bourdon Jean-François [ctb], Gatziolis Demetrios [ctb], Leon Steinmeier [ctb], Stanislaw Adaszewski [cph], Benoît St-Onge [cph]

lidR_4.3.2.tar.gz
lidR_4.3.2.zip(r-4.7)lidR_4.3.2.zip(r-4.6)lidR_4.3.2.zip(r-4.5)
lidR_4.3.2.tgz(r-4.6-x86_64)lidR_4.3.2.tgz(r-4.6-arm64)lidR_4.3.2.tgz(r-4.5-x86_64)lidR_4.3.2.tgz(r-4.5-arm64)
lidR_4.3.2.tar.gz(r-4.7-arm64)lidR_4.3.2.tar.gz(r-4.7-x86_64)lidR_4.3.2.tar.gz(r-4.6-arm64)lidR_4.3.2.tar.gz(r-4.6-x86_64)
lidR_4.3.2.tgz(r-4.6-emscripten)
manual.pdf |manual.html✨
card.svg |card.png
lidR/json (API)
NEWS

# Install 'lidR' in R:
install.packages('lidR', repos = c('https://cranhaven.r-universe.dev', 'https://cloud.r-project.org'))

Bug tracker:https://github.com/r-lidar/lidr/issues

Uses libs:
  • openblas– Optimized BLAS
  • c++– GNU Standard C++ Library v3
  • openmp– GCC OpenMP (GOMP) support library

On CRAN:

Conda:

archivedpackagesr-universeopenblascppopenmp

9.51 score 5 stars 18 packages 1.7k scripts 4.8k downloads 6 mentions 276 exports 50 dependencies

Last updated from:1e8c31d50c (on package/lidR). Checks:10 OK, 3 NOTE. Indexed: no.

TargetResultTimeFilesSyslog
linux-devel-arm64OK447
linux-devel-x86_64OK466
source / vignettesOK429
linux-release-arm64OK464
linux-release-x86_64OK455
macos-release-arm64OK257
macos-release-x86_64OK705
macos-oldrel-arm64NOTE308
macos-oldrel-x86_64NOTE504
windows-develOK483
windows-releaseOK551
windows-oldrelNOTE487
wasm-releaseOK256

Exports:.stdmetrics.stdmetrics_ctrl.stdmetrics_i.stdmetrics_pulse.stdmetrics_rn.stdmetrics_z.stdshapemetrics.stdtreemetricsadd_attributeadd_circle3dadd_dtm3dadd_flightlines3dadd_lasattributeadd_lasattribute_manualadd_lasniradd_lasrgbadd_treetops3dareaas.spatialbarycenter_per_voxelcatalogcatalog_applycatalog_boundariescatalog_intersectcatalog_mapcatalog_retilecatalog_sapplycatalog_selectcatalog_split_clustersclassify_groundclassify_noiseclassify_poiclip_circleclip_polygonclip_rectangleclip_roiclip_transectcloud_metricsconcavemanconnected_componentscount_not_quantizedcrown_metricscrscrs<-csfdalponte2016decimate_pointsdelineate_crownsdensitydsmtinengine_applyengine_chunksengine_cropengine_mergeengine_writeentropyepsgepsg<-evlrextfilter_duplicatesfilter_firstfilter_firstlastfilter_firstofmanyfilter_groundfilter_lastfilter_nthfilter_poifilter_singlefilter_surfacepointsfind_treesfit_circleforest.colorsgap_fraction_profileGatziolis2019get_lidr_threadsget_rangegrid_canopygrid_densitygrid_metricsgrid_terrainheaderheight_above_groundheight.colorshexagon_metricshighesthighest_attribute_per_voxelhomogenizeindexindex<-interpret_waveformisis.algorithmis.emptyis.indexedis.overlappingis.parallelisedis.quantizedivfknnknn_distanceknnidwknnxkrigingLADLASlas_checklas_is_compressedlas_quantizelas_reoffsetlas_rescalelas_sizelas_updateLASBRIGDELASBUILDINGLASGROUNDLASheaderLASHIGHVEGETATIONLASKEYPOINTLASLOWPOINTLASLOWVEGETATIONLASMEDIUMVEGETATIONLASNOISELASNONCLASSIFIEDLASRAILLASROADSURFACELASTRANSMISSIONTOWERLASUNCLASSIFIEDLASWATERLASWIRECONDUCTORLASWIREGUARDli2012lmflocate_treeslowestlowest_attribute_per_voxellspikefreemanualmccmerge_spatialncol.LASnormalize_heightnormalize_intensitynpointsnrow.LAScatalogopt_chunk_alignmentopt_chunk_alignment<-opt_chunk_bufferopt_chunk_buffer<-opt_chunk_sizeopt_chunk_size<-opt_filteropt_filter<-opt_independent_filesopt_independent_files<-opt_laz_compressionopt_laz_compression<-opt_mergeopt_merge<-opt_output_filesopt_output_files<-opt_progressopt_progress<-opt_restart<-opt_selectopt_select<-opt_stop_earlyopt_stop_early<-opt_wall_to_wallopt_wall_to_wall<-p2rpastel.colorspayloadphbpitfill_stonge2008pitfreepixel_metricsplotplot_dtm3dplot_metricsplugin_decimateplugin_dsmplugin_dtmplugin_gndplugin_itdplugin_itsplugin_nintensityplugin_outliersplugin_shapeplugin_snagplugin_trackpmfpoint_eigenvaluespoint_metricspolygon_metricsprojectionprojection<-ptdquantizerandomrandom_per_voxelrandom.colorsrange_correctionrasterize_canopyrasterize_densityrasterize_terrainreadALSreadALScatalogreadALSLASreadALSLAScatalogreadDAPLASreadDAPLAScatalogreadLASreadLAScatalogreadLASheaderreadMSLASreadTLSreadTLScatalogreadTLSLASreadTLSLAScatalogreadUAVLASreadUAVLAScatalogremove_groundremove_lasattributeremove_noiseremove_waterretrieve_flightlinesretrieve_pulsesretrieve_scanlinesRoussel2020rumple_indexsegment_shapessegment_snagssegment_treessensorsensor<-set_lidr_threadsshp_hlineshp_hplaneshp_lineshp_planeshp_vlinesilva2016smooth_heightsorspikefreest_areast_bboxst_concave_hullst_crsst_crs<-stdmetricsstdmetrics_ctrlstdmetrics_istdmetrics_pulsestdmetrics_rnstdmetrics_zstdshapemetricsstdtreemetricsstorable_coordinate_rangetemplate_metricstintrack_sensortree_metricsunnormalize_heightunsmooth_heightutil_makeZhangParamVCIvlrvoxel_metricsvoxelize_pointswatershedwing2015wktwkt<-writeLAS

Dependencies:abindbase64encBHbslibcachemclassclassIntclidata.tableDBIdigeste1071evaluatefastmapfontawesomefsgluehighrhtmltoolshtmlwidgetsjquerylibjsonliteKernSmoothknitrlazyevallifecyclemagrittrMASSmemoisemimeparallellyproxyR6rappdirsRcppRcppArmadillorglrlangrlasrmarkdowns2sasssfstarsterratinytexunitswkxfunyaml

LAS formal class

Rendered fromlidR-LAS-class.Rmdusingknitr::rmarkdownon Jun 09 2026.

Last update: 2026-06-09
Started: 2026-06-09

LAScatalog formal class

Rendered fromlidR-LAScatalog-class.Rmdusingknitr::rmarkdownon Jun 09 2026.

Last update: 2026-06-09
Started: 2026-06-09

LAScatalog processing engine

Rendered fromlidR-LAScatalog-engine.Rmdusingknitr::rmarkdownon Jun 09 2026.

Last update: 2026-06-09
Started: 2026-06-09

Speed-up the computations on a LAScatalog

Rendered fromlidR-computation-speed-LAScatalog.Rmdusingknitr::rmarkdownon Jun 09 2026.

Last update: 2026-06-09
Started: 2026-06-09

Create a function that can process a LAScatalog

Rendered fromlidR-catalog-apply-examples.Rmdusingknitr::rmarkdownon Jun 09 2026.

Last update: 2026-06-09
Started: 2026-06-09

Readme and manuals

Help Manual

Help pageTopics
lidR: airborne LiDAR for forestry applicationslidR-package lidR
Add attributes into a LAS objectadd_attribute add_lasattribute add_lasattribute_manual add_lasnir add_lasrgb remove_lasattribute
Metric derivation at different levels of regularizationaggregate cloud_metrics crown_metrics hexagon_metrics pixel_metrics plot_metrics polygon_metrics template_metrics voxel_metrics
Transform to a listas as.list.LASheader
ASPRS LAS Classificationasprs LASBRIGDE LASBUILDING LASGROUND LASHIGHVEGETATION LASKEYPOINT LASLOWPOINT LASLOWVEGETATION LASMEDIUMVEGETATION LASNOISE LASNONCLASSIFIED LASRAIL LASROADSURFACE LASTRANSMISSIONTOWER LASUNCLASSIFIED LASWATER LASWIRECONDUCTOR LASWIREGUARD
LAScatalog processing enginecatalog_apply catalog_map catalog_sapply
Computes the polygon that encloses the pointscatalog_boundaries
Subset a LAScatalogcatalog_intersect catalog_select catalog_subset
Retile a LAScatalogcatalog_retile
Split a catalog into spatially clustered subsetscatalog_split_clusters
Classify pointsclassify classify_ground classify_noise classify_poi
Clip points in regions of interestclip clip_circle clip_polygon clip_rectangle clip_roi clip_transect
Connected-Component Labelingconnected_components
Decimate a LAS objectdecimate_points
Deprecated functions in lidRdeprecated filter_surfacepoints filter_surfacepoints.LAS filter_surfacepoints.LAScatalog readALSLAS readALSLAScatalog readDAPLAS readDAPLAScatalog readTLSLAS readTLSLAScatalog readUAVLAS readUAVLAScatalog
Digital Surface Model Algorithmdsm_pitfree pitfree
Digital Surface Model Algorithmdsm_point2raster p2r
Digital Surface Model Algorithmdsm_spikefree lspikefree spikefree
Digital Surface Model Algorithmdsmtin dsm_tin
Spatial Interpolation Algorithmdtm_idw knnidw
Spatial Interpolation Algorithmdtm_kriging kriging
Spatial Interpolation Algorithmdtm_tin tin
Functions for the LAScatalog processing engine not meant to be called directly by usersengine engine_apply engine_chunks engine_crop engine_merge engine_write
Get or set LAScatalog processing engine optionsengine_options opt_chunk_alignment opt_chunk_alignment<- opt_chunk_buffer opt_chunk_buffer<- opt_chunk_size opt_chunk_size<- opt_filter opt_filter<- opt_independent_files opt_independent_files<- opt_laz_compression opt_laz_compression<- opt_merge opt_merge<- opt_output_files opt_output_files<- opt_progress opt_progress<- opt_restart<- opt_select opt_select<- opt_stop_early opt_stop_early<- opt_wall_to_wall opt_wall_to_wall<-
Extract or Replace Parts of a LAS* Object$,LAS-method $,LAScatalog-method $,LASheader-method $<-,LAS-method $<-,LAScatalog-method $<-,LASheader-method Extract [,LAS,logical,ANY-method [,LAS,numeric,ANY-method [,LAS,sf,ANY-method [,LAS,sfc,ANY-method [,LAScatalog,ANY,ANY-method [,LAScatalog,logical,ANY-method [,LAScatalog,sf,ANY-method [,LAScatalog,sfc,ANY-method [[,LAS,ANY,missing-method [[,LAScatalog,ANY,missing-method [[,LASheader,ANY,missing-method [[<-,LAS,ANY,missing-method [[<-,LAScatalog,ANY,ANY-method [[<-,LASheader,character,missing-method
Filter points of interestfilters filter_duplicates filter_duplicates.LAS filter_duplicates.LAScatalog filter_first filter_firstlast filter_firstofmany filter_ground filter_last filter_nth filter_poi filter_single remove_ground remove_noise remove_water
Fits 2D Circles on a Point Cloudfit_circle
Ground Segmentation Algorithmcsf gnd_csf
Ground Segmentation Algorithmgnd_mcc mcc
Ground Segmentation Algorithmgnd_pmf pmf util_makeZhangParam
Convert full waveform data into a regular point cloudinterpret_waveform
A set of boolean tests on objectsis is.algorithm is.empty,LAS-method is.indexed is.overlapping is.parallelised
Individual Tree Detection Algorithmitd_lmf lmf
Individual Tree Detection Algorithmitd_manual manual
Individual Tree Segmentation Algorithmdalponte2016 its_dalponte2016
Individual Tree Segmentation Algorithmits_li2012 li2012
Individual Tree Segmentation Algorithmits_silva2016 silva2016
Individual Tree Segmentation Algorithmits_watershed watershed
Search Nearest Neighborsknn knnx
Computes the Distance to k-Nearest Neighborsknn_distance
Inspect a LAS objectlas_check
Compression of the point cloudlas_compression las_is_compressed las_size
LAS utilitiescount_not_quantized evlr header is.quantized las_quantize las_reoffset las_rescale las_update las_utilities payload phb quantize storable_coordinate_range vlr
An S4 class to represent a .las or .laz fileLAS LAS-class
An S4 class to represent a collection of .las or .laz filesLAScatalog-class
Create a 'LASheader' objectLASheader
An S4 class to represent the header of .las or .laz filesLASheader-class
LAScatalog driverslidR-LAScatalog-drivers
Parallel computation in lidRlidR-parallelism
Spatial indexindex index<- lidR-spatial-index sensor sensor<-
Individual tree detectionlocate_trees
Merge a point cloud with a source of spatial datamerge_spatial
Noise Segmentation Algorithmivf noise_ivf
Noise Segmentation Algorithmnoise_sor sor
Normalize point cloud-,LAS,ANY-method height_above_ground normalize normalize_height normalize_intensity unnormalize_height
Predefined non standard metricsentropy gap_fraction_profile LAD nstdmetrics rumple_index VCI
Older R Spatial Packagesas.spatial as.spatial.LAS as.spatial.LAScatalog delineate_crowns find_trees grid_canopy grid_density grid_metrics grid_terrain old_spatial_packages tree_metrics
Pits and spikes fillingpitfill_stonge2008
Plot a LAS* objectforest.colors height.colors pastel.colors plot plot,LAS,missing-method plot,LAScatalog,missing-method plot,LASheader,missing-method random.colors
Add a spatial object to a point cloud sceneadd_circle3d add_dtm3d add_flightlines3d add_treetops3d plot_3d plot_dtm3d
Plot voxelized LiDAR dataplot.lasmetrics3d
Plugin systemplugins plugin_decimate plugin_dsm plugin_dtm plugin_gnd plugin_itd plugin_its plugin_nintensity plugin_outliers plugin_shape plugin_snag plugin_track
Point-based metricspoint_eigenvalues point_metrics
Tools inherited from base R for LAS* objectsdensity density,LAS-method density,LAScatalog-method density,LASheader-method dim.LAS dim.LAScatalog names.LAS names.LASheader ncol.LAS npoints nrow.LAScatalog print.LAS print.LAScatalog print.lidRAlgorithm print.raster_template rbind.LAS summary.LAS summary.LAScatalog tools
Progressive TIN Densificationptd
Intensity normalization algorithmget_range range_correction
Rasterize a point cloudrasterize rasterize_canopy rasterize_density rasterize_terrain
Read .las or .laz filesreadALS readLAS readMSLAS readTLS
Create an object of class LAScatalogcatalog readALScatalog readLAScatalog readTLScatalog
Read a .las or .laz file headerreadLASheader
Retrieve individual pulses, flightlines or scanlinesretrieve_flightlines retrieve_pulses retrieve_scanlines
Point Cloud Decimation Algorithmhomogenize sample_homogenize
Point Cloud Decimation Algorithmhighest lowest sample_maxima
Point Cloud Decimation Algorithmbarycenter_per_voxel highest_attribute_per_voxel lowest_attribute_per_voxel random_per_voxel sample_per_voxel
Point Cloud Decimation Algorithmrandom sample_random
Segment a point cloudsegment segment_shapes segment_snags segment_trees
Set or get number of threads that lidR should useget_lidr_threads set_lidr_threads
Algorithms for shape detection of the local point neighbourhoodshape_detection shp_hline shp_hplane shp_line shp_plane shp_vline
Smooth a point cloudsmooth_height unsmooth_height
Snags Segmentation Algorithmsnag_wing2015 wing2015
Surface covered by a LAS* objectarea,LAS-method area,LAScatalog-method area,LASheader-method st_area st_area.LAS st_area.LAScatalog st_area.LASheader
Bounding box of a LAS* objectext,LAS-method ext,LAScatalog-method ext,LAScluster-method ext,LASheader-method st_bbox st_bbox.LAS st_bbox.LAScatalog st_bbox.LAScluster st_bbox.LASheader
Coordinates of a LAS* object in a matrix formst_coordinates st_coordinates.LAS st_coordinates.LAScatalog
Get or set the projection of a LAS* objectcrs,LAS-method crs,LAScatalog-method crs,LAScluster-method crs,LASheader-method crs<-,LAS-method crs<-,LAScatalog-method crs<-,LASheader-method epsg epsg,LAS-method epsg,LASheader-method epsg<- epsg<-,LAS-method epsg<-,LASheader-method projection projection<- st_crs st_crs.LAS st_crs.LAScatalog st_crs.LAScluster st_crs.LASheader st_crs<- st_crs<-.LAS st_crs<-.LAScatalog st_crs<-.LASheader wkt wkt,LAS-method wkt,LASheader-method wkt<- wkt<-,LAS-method wkt<-,LASheader-method
Concave and convex hulls for LAS objectsconcaveman st_concave_hull st_convex_hull.LAS st_hull
Transform or convert coordinates of LAS objectsst_transform st_transform.LAS
Predefined standard metrics functions.stdmetrics .stdmetrics_ctrl .stdmetrics_i .stdmetrics_pulse .stdmetrics_rn .stdmetrics_z .stdshapemetrics .stdtreemetrics stdmetrics stdmetrics_ctrl stdmetrics_i stdmetrics_pulse stdmetrics_rn stdmetrics_z stdshapemetrics stdtreemetrics
Reconstruct the trajectory of the LiDAR sensor using multiple returnstrack_sensor
Sensor tracking algorithmGatziolis2019 track_sensor_gatziolis2019
Sensor tracking algorithmRoussel2020 track_sensor_roussel2020
Voxelize a point cloudvoxelize_points
Write a .las or .laz filewriteLAS