PDAL (Point Data Abstraction Library) provides both a suite of command-line applications and programming library for the processing, filtering, translation, and querying of point cloud data in a pipeline fashion that allows complex processing chains to be put together simply.

PDAL is a C++ BSD library for translating and manipulating point cloud data. It is very much like GDAL (Geospatial Data Abstraction Library), which handles raster and vector data. Website: http://www.pdal.io/