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NAME - Converts LAS LiDAR point clouds to a GRASS vector map with PDAL.


vector, import, LIDAR

SYNOPSIS --help [-wocrjkhm] input=name output=name [id_layer=string] [return_layer=string] [class_layer=string] [rgb_layer=string] [spatial=xmin,ymin,xmax,ymax] [zrange=min,max] [return_filter=string] [class_filter=integer[,integer,...]] [input_srs=string] [max_ground_window_size=float] [ground_slope=float] [max_ground_distance=float] [initial_ground_distance=float] [ground_cell_size=float] [--overwrite] [--help] [--verbose] [--quiet] [--ui]


Reproject to location’s coordinate system if needed
Reprojects input dataset to the coordinate system of the GRASS location (by default only datasets with the matching cordinate system can be imported

Override projection check (use current location’s projection)
Assume that the dataset has same projection as the current location

Do not automatically add unique ID as category to each point
Create only requested layers and categories

Limit import to the current region

Classify and extract ground points
This assignes class 2 to the groud points

Classify ground points

Compute height for points as a difference from ground
This requires points to have class 2

Use approximate algorithm in ground filter

Allow output files to overwrite existing files

Print usage summary

Verbose module output

Quiet module output

Force launching GUI dialog


LAS input file
LiDAR input files in LAS format (*.las or *.laz)

Name for output vector map

Layer number to store generated point ID as category
Set to 1 by default, use -c to not store it

Layer number to store return information as category
Leave empty to not store it

Layer number to store class number as category
Leave empty to not store it

Layer number where RBG colors are stored as category
Leave empty to not store it

Import subregion only
Format: xmin,ymin,xmax,ymax - usually W,S,E,N

Filter range for z data (min,max)

Only import points of selected return type
If not specified, all points are imported
Options: first, last, mid

Only import points of selected class(es)
Input is comma separated integers. If not specified, all points are imported.

Input dataset projection (WKT or EPSG, e.g. EPSG:4326)
Override input dataset coordinate system using EPSG code or WKT definition

Maximum window size for ground filter
Default: 33

Slope for ground filter
Default: 1.0

Maximum distance for ground filter
Default: 2.5

Initial distance for ground filter
Default: 0.15

Initial distance for ground filter
Default: 1

DESCRIPTION supports the following PDAL filters:

  • groud detection with Point Cloud Library (PCL) Progressive Morphological Filter (Zhang 2003) (filters.ground)
  • filters.height (requires PCL) supports the following filters natively:
  • 2D region filter
  • Z coordinates filter
  • return filter
  • class filter


Import only XYZ coordinates of points, limit the import to the current computational region and reproject to the Location projection during the import: input=points.las output=points -c -r -w

SEE ALSO,, g.region, v.vect.stats,


  • V. Petras, A. Petrasova, J. Jeziorska, H. Mitasova (2016): Processing UAV and lidar point clouds in GRASS GIS. XXIII ISPRS Congress 2016 [ISPRS Archives, ResearchGate]
  • Zhang, Keqi, et al. A progressive morphological filter for removing nonground measurements from airborne LIDAR data. Geoscience and Remote Sensing, IEEE Transactions on 41.4 (2003): 872-882.


Vaclav Petras, NCSU GeoForAll Lab


Available at: source code (history)

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GRASS 7.8.5