PDAL - Point Data Abstraction Library
PDAL is a C++ library for translating and manipulating point cloud data. It is very much like the GDAL library which handles raster and vector data. The About page provides high level overview of the library and its philosophy. Visit Readers and Writers to list data formats it supports, and see Filters for filtering operations that you can apply with PDAL.
In addition to the library code, PDAL provides a suite of command-line applications that users can conveniently use to process, filter, translate, and query point cloud data. Applications provides more information on that topic.
Finally, PDAL speaks Python by both embedding and extending it. Visit Python to find out how you can use PDAL with Python to process point cloud data.
The entire website is available as a single PDF at http://pdal.io/PDAL.pdf