 The PCS algorithm was developed to post-process point cloud data, PCD, from terrestrial laser scanning, TLS, for use in forest inventories. It utilizes a voxel data structure derived from TLS-PCD, which allows for the retrieval of biophysical tree parameters such as diameter at breast height, dbh, tree height, basal area, and volume. Additionally, it provides a side-scanning approach for estimating TLS volume, which is limited by occlusions caused by trees. This methodology was tested in heterogeneous urban forests, where TLS-derived metrics explained 91.17% of the variation in dbh at individual tree level. However, only 57.27% accuracy was achieved for predicting tree heights, indicating the need for further research into TLS-based methods for urban forest inventories. This article was authored by L. Monica Moskel and Guang Zhang.