Topo-bathymetric LiDAR data captured with modern systems are complex. The primary information received is a time-dependent amplitude variation of the reflected light. These so-called waveforms are processed into singular points with 3D coordinates by advanced on-board devices of the LiDAR sensor (online waveform processing), but the full-waveform (FWF) information may be available as well. However, available software tools are often insufficient to manage all required processing steps. Common file formats do not allow to store originally recorded sensor parameters together with subsequently processed parameters in one database or file. The FWF, however, can contain information to better cover the terrain below dense vegetation, and to improve aerial coverage of the water ground. Thus, we extended the software suite HydroVISH with respect to an integrated FWF processing pipeline. Employing the open-source Hierarchical Data Format V5 (HDF5) with the F5 layout thereby allows for efficient data storage and handling throughout the processing chain. The potential benefit of performing a comprehensive FWF analysis can be assessed via the simultaneous visualization of the complete FWF information on all points in an interactive display environment. Next, the valuable point information is extracted using various provided FWF processing tools, such as Richardson–Lucy deconvolution or Gaussian decomposition. For topo-bathymetric data, the correct point classification of the terrain above and below water as well as the actual water surface is crucial to correctly calculate the refraction correction for points beneath the water surface. Finally, we also outline the implemented classification approach for the terrain and water surface.

现代系统捕获的地形测深LiDAR数据非常复杂。接收到的主要信息是反射光随时间变化的幅度变化。这些所谓的波形通过LiDAR传感器的先进机载设备处理为具有3D坐标的奇异点（在线波形处理），但也可以使用全波形（FWF）信息。但是，可用的软件工具通常不足以管理所有必需的处理步骤。通用文件格式不允许将原始记录的传感器参数以及后续处理的参数存储在一个数据库或文件中。但是，FWF可以包含一些信息，以更好地覆盖茂密植被下的地形，并改善水面的空中覆盖范围。因此，我们针对集成的FWF处理管道扩展了HydroVISH软件套件。因此，采用具有F5布局的开源分层数据格式V5（HDF5）可以在整个处理链中进行有效的数据存储和处理。可以通过在交互式显示环境中所有点上同时显示完整FWF信息的方式来评估执行全面FWF分析的潜在利益。接下来，使用各种提供的FWF处理工具（例如Richardson-Lucy反卷积或高斯分解）提取有价值的点信息。对于地形测深数据，正确地计算水面下的点的折射校正对于至关重要。