This Common Lisp library gives a basic access to the de facto standard LAS files as defined here:
http://www.asprs.org/Committee-General/LASer-LAS-File-Format-Exchange-Activities.html
For simple usage, the UI is straightforward. You open a LAS file with
the with-las macro and then you can access its points with the
read-point-at function. A point is an object and you have accessors
to get its slots’ values.
(las:with-las (las "~/tmp/foo.las")
(loop for i below (las:las-number-of-points las)
collect (las:x (las:read-point-at i las :scale-p t))))