****************************************************************

  lasdatum:

  Transforms LiDAR from one horizontal datum to another using
  either a NTv2 grid or a seven parameter helmert transform.

  Note that there are two ways of specifying the rotational part
  of the Helmert transform. The Position Vector Transformation (PVR)
  convention and the Coordinate Frame Rotation (CFR) convention.
  The difference between them is that their rotation matrix is of
  opposite orientation. You need to specify in the command line
  which of the two you are using by adding either '-pvr' and '-cfr'
  to the command line.

  Please license from info@rapidlasso.de before using lasdatum
  commercially. Please note that the unlicensed version will set
  intensity, gps_time, user data, and point source ID to zero,
  slightly change the LAS point order, and randomly add a tiny
  bit of white noise to the points coordinates once you exceed a
  certain number of points in the input file.

  For updates check the website or join the LAStools mailing list.

  https://rapidlasso.de/
  http://lastools.org/
  http://groups.google.com/group/lastools/
  http://twitter.com/lastools/
  http://facebook.com/lastools/
  http://linkedin.com/groups?gid=4408378

  Martin @rapidlasso

****************************************************************

example usage:

:: from MGI / Austria GK East to ETRS89 / UTM zone 33N using a grid

lasdatum ^
-i mgi\test_tile.laz ^
-epsg 31256 ^
-grid AT_GIS_GRID.gsb ^
-target_epsg 25833 ^
-o utm33\test_tile.laz

:: from ETRS89 / UTM zone 33N to MGI / Austria GK East using a grid

lasdatum ^
-i utm33\test_tile.laz ^
-epsg 25833 ^
-grid AT_GIS_GRID.gsb ^
-backward ^
-target_epsg 31256 ^
-o mgi\test_tile.laz

:: from MGI / Austria GK East to ETRS89 / UTM zone 33N using a seven parameter transform in CFR convention

lasdatum ^
-i mgi\test_tile.laz ^
-epsg 31256 ^
-cvr ^
-seven 577.326,90.129,463.920,-5.137,-1.474,-5.297,2.423 ^
-target_epsg 25833 ^
-o utm33\test_tile.laz

:: from ETRS89 / UTM zone 33N to MGI / Austria GK East using a seven parameter transform in CFR convention

lasdatum ^
-i utm33\test_tile.laz ^
-epsg 25833 ^
-cfr ^
-seven 577.326,90.129,463.920,-5.137,-1.474,-5.297,2.423 ^
-backward ^
-target_epsg 31256 ^
-o mgi\test_tile.laz

****************************************************************

E:\software\LAStools\bin>lasdatum -h
Filter points based on their coordinates.
  -keep_tile 631000 4834000 1000 (ll_x ll_y size)
  -keep_circle 630250.00 4834750.00 100 (x y radius)
  -keep_xy 630000 4834000 631000 4836000 (min_x min_y max_x max_y)
  -drop_xy 630000 4834000 631000 4836000 (min_x min_y max_x max_y)
  -keep_x 631500.50 631501.00 (min_x max_x)
  -drop_x 631500.50 631501.00 (min_x max_x)
  -drop_x_below 630000.50 (min_x)
  -drop_x_above 630500.50 (max_x)
  -keep_y 4834500.25 4834550.25 (min_y max_y)
  -drop_y 4834500.25 4834550.25 (min_y max_y)
  -drop_y_below 4834500.25 (min_y)
  -drop_y_above 4836000.75 (max_y)
  -keep_z 11.125 130.725 (min_z max_z)
  -drop_z 11.125 130.725 (min_z max_z)
  -drop_z_below 11.125 (min_z)
  -drop_z_above 130.725 (max_z)
  -keep_xyz 620000 4830000 100 621000 4831000 200 (min_x min_y min_z max_x max_y max_z)
  -drop_xyz 620000 4830000 100 621000 4831000 200 (min_x min_y min_z max_x max_y max_z)
Filter points based on their return numbering.
  -keep_first -first_only -drop_first
  -keep_last -last_only -drop_last
  -keep_second_last -drop_second_last
  -keep_first_of_many -keep_last_of_many
  -drop_first_of_many -drop_last_of_many
  -keep_middle -drop_middle
  -keep_return 1 2 3
  -drop_return 3 4
  -keep_single -drop_single
  -keep_double -drop_double
  -keep_triple -drop_triple
  -keep_quadruple -drop_quadruple
  -keep_number_of_returns 5
  -drop_number_of_returns 0
Filter points based on the scanline flags.
  -drop_scan_direction 0
  -keep_scan_direction_change
  -keep_edge_of_flight_line
Filter points based on their intensity.
  -keep_intensity 20 380
  -drop_intensity_below 20
  -drop_intensity_above 380
  -drop_intensity_between 4000 5000
Filter points based on classifications or flags.
  -keep_class 1 3 7
  -drop_class 4 2
  -keep_extended_class 43
  -drop_extended_class 129 135
  -drop_synthetic -keep_synthetic
  -drop_keypoint -keep_keypoint
  -drop_withheld -keep_withheld
  -drop_overlap -keep_overlap
Filter points based on their user data.
  -keep_user_data 1
  -drop_user_data 255
  -keep_user_data_below 50
  -keep_user_data_above 150
  -keep_user_data_between 10 20
  -drop_user_data_below 1
  -drop_user_data_above 100
  -drop_user_data_between 10 40
Filter points based on their point source ID.
  -keep_point_source 3
  -keep_point_source_between 2 6
  -drop_point_source 27
  -drop_point_source_below 6
  -drop_point_source_above 15
  -drop_point_source_between 17 21
Filter points based on their scan angle.
  -keep_scan_angle -15 15
  -drop_abs_scan_angle_above 15
  -drop_abs_scan_angle_below 1
  -drop_scan_angle_below -15
  -drop_scan_angle_above 15
  -drop_scan_angle_between -25 -23
Filter points based on their gps time.
  -keep_gps_time 11.125 130.725
  -drop_gps_time_below 11.125
  -drop_gps_time_above 130.725
  -drop_gps_time_between 22.0 48.0
Filter points based on their RGB/CIR/NIR channels.
  -keep_RGB_red 1 1
  -drop_RGB_red 5000 20000
  -keep_RGB_green 30 100
  -drop_RGB_green 2000 10000
  -keep_RGB_blue 0 0
  -keep_RGB_nir 64 127
  -keep_RGB_greenness 200 65535
  -keep_NDVI 0.2 0.7 -keep_NDVI_from_CIR -0.1 0.5
  -keep_NDVI_intensity_is_NIR 0.4 0.8 -keep_NDVI_green_is_NIR -0.2 0.2
Filter points based on their wavepacket.
  -keep_wavepacket 0
  -drop_wavepacket 3
Filter points based on extra attributes.
  -keep_attribute_above 0 5.0
  -drop_attribute_below 1 1.5
Filter points with simple thinning.
  -keep_every_nth 2 -drop_every_nth 3
  -keep_random_fraction 0.1
  -keep_random_fraction 0.1 4711
  -thin_with_grid 1.0
  -thin_pulses_with_time 0.0001
  -thin_points_with_time 0.000001
Boolean combination of filters.
  -filter_and
Transform coordinates.
  -translate_x -2.5
  -scale_z 0.3048
  -rotate_xy 15.0 620000 4100000 (angle + origin)
  -translate_xyz 0.5 0.5 0
  -translate_then_scale_y -0.5 1.001
  -transform_helmert -199.87,74.79,246.62
  -transform_helmert 598.1,73.7,418.2,0.202,0.045,-2.455,6.7
  -transform_affine 0.9999652,0.903571,171.67,736.26
  -switch_x_y -switch_x_z -switch_y_z
  -clamp_z_below 70.5
  -clamp_z 70.5 72.5
  -copy_attribute_into_z 0
  -add_attribute_to_z 1
  -add_scaled_attribute_to_z 1 -1.2
  -copy_intensity_into_z
  -copy_user_data_into_z
Transform raw xyz integers.
  -translate_raw_z 20
  -translate_raw_xyz 1 1 0
  -translate_raw_xy_at_random 2 2
  -clamp_raw_z 500 800
Transform intensity.
  -set_intensity 0
  -scale_intensity 2.5
  -translate_intensity 50
  -translate_then_scale_intensity 0.5 3.1
  -clamp_intensity 0 255
  -clamp_intensity_above 255
  -map_intensity map_file.txt
  -copy_RGB_into_intensity
  -copy_NIR_into_intensity
  -copy_attribute_into_intensity 0
  -bin_gps_time_into_intensity 0.5
Transform scan_angle.
  -set_scan_angle 0.0
  -scale_scan_angle 1.944445
  -translate_scan_angle -5
  -translate_then_scale_scan_angle -0.5 2.1
Change the return number or return count of points.
  -repair_zero_returns
  -set_return_number 1
  -set_extended_return_number 10
  -change_return_number_from_to 2 1
  -change_extended_return_number_from_to 2 8
  -set_number_of_returns 2
  -set_extended_number_of_returns 15
  -change_number_of_returns_from_to 0 2
  -change_extended_number_of_returns_from_to 8 10
Modify the classification.
  -set_classification 2
  -set_extended_classification 41
  -change_classification_from_to 2 4
  -classify_z_below_as -5.0 7
  -classify_z_above_as 70.0 7
  -classify_z_between_as 2.0 5.0 4
  -classify_intensity_above_as 200 9
  -classify_intensity_below_as 30 11
  -classify_intensity_between_as 500 900 15
  -classify_attribute_below_as 0 -5.0 7
  -classify_attribute_above_as 1 70.0 7
  -classify_attribute_between_as 1 2.0 5.0 4
  -change_extended_classification_from_to 6 46
  -move_ancient_to_extended_classification
  -copy_user_data_into_classification
Change the flags.
  -set_withheld_flag 0
  -set_synthetic_flag 1
  -set_keypoint_flag 0
  -set_overlap_flag 1
Modify the extended scanner channel.
  -set_scanner_channel 2
  -copy_user_data_into_scanner_channel
Modify the user data.
  -set_user_data 0
  -scale_user_data 1.5
  -change_user_data_from_to 23 26
  -change_user_data_from_to 23 26
  -map_user_data map_file.txt
  -copy_scanner_channel_into_user_data
  -copy_attribute_into_user_data 1
  -add_scaled_attribute_to_user_data 0 10.0
Modify the point source ID.
  -set_point_source 500
  -change_point_source_from_to 1023 1024
  -map_point_source map_file.txt
  -copy_user_data_into_point_source
  -copy_scanner_channel_into_point_source
  -copy_attribute_into_point_source 0
  -merge_scanner_channel_into_point_source
  -split_scanner_channel_from_point_source
  -bin_Z_into_point_source 200
  -bin_abs_scan_angle_into_point_source 2
  -bin_gps_time_into_point_source 5.0
Transform gps_time.
  -set_gps_time 113556962.005715
  -translate_gps_time 40.50
  -adjusted_to_week
  -week_to_adjusted 1671
Transform RGB/NIR colors.
  -set_RGB 255 0 127
  -set_RGB_of_class 9 0 0 255
  -scale_RGB 2 4 2
  -scale_RGB_down (by 256)
  -scale_RGB_up (by 256)
  -scale_RGB_to_8bit (only scales down 16 bit values)
  -scale_RGB_to_16bit (only scales up 8 bit values)
  -set_NIR 65535
  -scale_NIR 2
  -scale_NIR_down (by 256)
  -scale_NIR_up (by 256)
  -scale_NIR_to_8bit (only scales down 16 bit values)
  -scale_NIR_to_16bit (only scales up 8 bit values)
  -switch_R_G -switch_R_B -switch_B_G
  -copy_R_into_NIR -copy_R_into_intensity
  -copy_G_into_NIR -copy_G_into_intensity
  -copy_B_into_NIR -copy_B_into_intensity
  -copy_intensity_into_NIR
  -switch_RGBI_into_CIR
  -switch_RGB_intensity_into_CIR
Transform attributes in "Extra Bytes".
  -scale_attribute 0 1.5
  -translate_attribute 1 0.2
  -copy_user_data_into_attribute 0
  -copy_z_into_attribute 0
  -map_attribute_into_RGB 0 map_height_to_RGB.txt
Transform using "LASregisters".
  -copy_attribute_into_register 0 0
  -scale_register 0 1.5
  -translate_register 1 10.7
  -add_registers 0 1 3
  -multiply_registers 0 1 2
  -copy_intensity_into_register 0
  -copy_R_into_register 1
  -copy_G_into_register 2
  -copy_B_into_register 3
  -copy_NIR_into_register 4
  -copy_register_into_intensity 1
Ignore points based on classifications.
  -ignore_class 7
  -ignore_class 0 1 7 33
Ignore points based on return type.
  -ignore_first -ignore_first_of_many
  -ignore_last -ignore_last_of_many
  -ignore_intermediate
  -ignore_single
Ignore points based on flags.
  -ignore_synthetic -ignore_keypoint
  -ignore_withheld -ignore_overlap
Supported LAS Inputs
  -i lidar.las
  -i lidar.laz
  -i lidar1.las lidar2.las lidar3.las -merged
  -i *.las - merged
  -i flight0??.laz flight1??.laz
  -i terrasolid.bin
  -i esri.shp
  -i nasa.qi
  -i lidar.txt -iparse xyzti -iskip 2 (on-the-fly from ASCII)
  -i lidar.txt -iparse xyzi -itranslate_intensity 1024
  -lof file_list.txt
  -stdin (pipe from stdin)
  -rescale 0.01 0.01 0.001
  -rescale_xy 0.01 0.01
  -rescale_z 0.01
  -reoffset 600000 4000000 0
Fast AOI Queries for LAS/LAZ with spatial indexing LAX files
  -inside min_x min_y max_x max_y
  -inside_tile ll_x ll_y size
  -inside_circle center_x center_y radius
Supported LAS Outputs
  -o lidar.las
  -o lidar.laz
  -o xyzta.txt -oparse xyzta (on-the-fly to ASCII)
  -o terrasolid.bin
  -o nasa.qi
  -odir C:\data\ground (specify output directory)
  -odix _classified (specify file name appendix)
  -ocut 2 (cut the last two characters from name)
  -olas -olaz -otxt -obin -oqfit (specify format)
  -stdout (pipe to stdout)
  -nil    (pipe to NULL)
LAStools (by info@rapidlasso.de) version 210323 (commercial)
usage:
lasdatum -i in.laz -grid datumshift.gsb -o out.laz
lasdatum -i in.laz -epsg 31256 -grid AT_GRID.gsb -target_epsg 25833 -o out.laz
lasdatum -i in.laz -epsg 25833 -grid AT_GRID.gsb -backward -target_epsg 31256 -o out.laz
lasdatum -i in.laz -epsg 31256 -seven 577.326,90.129,463.920,-5.137,-1.474,-5.297,2.423 -target_epsg 25833 -o out.laz
lasdatum -i in.laz -epsg 25833 -seven 577.326,90.129,463.920,-5.137,-1.474,-5.297,2.423 -backward -target_epsg 31256 -o out.laz
lasdatum -h

-------------

if you find bugs let us (info@rapidlasso.de) know.