I have experience with several programs, but tend to work with Carlson Point Cloud for extractions. The Field to Finish file (code library) imports into the create point routine, so it is rather like surveying in the field from the comfort of a gaming chair. Carlson has views - direct color (based on imagery) - intensity (reflectivity) - colorized intensity (making the grey into some colors) - elevation (only one color scheme).

I tend to work with an exaggerated vertical because I can. There are means to hide the cloud, or slice it in other ways. There are some automated tools to extract ground points and extract some other objects, but I tend to just work with the points. (Comfortable or lame)