https://pdal.io/en/stable/index.html
PDAL is accessable from the OSGEO shell... or see Conda Quickstart
Below are some quick examples of pipelines you can use with the json included in this repo. PDAL has lots of other functionality to explore and can be used with python using pdal-python.
pdal pipeline pdal-colourize.json
pdal pipeline pdal-dtm.json
pdal pipeline pdal-dsm.json
gdal_calc -A dsm.tif -B dtm.tif --calc="A-B" --extent intersect --outfile chm.tif