You get a point on the ground when there is a big enough gap in the canopy (assuming the intensity is also enough). Otherwise you get a return on the vegetation. The penetration index = "ground points" / "total points" is a measure of the proportion of openings. You can extend this definition to other levels, e.g. "points below 5 m" / "total points" to distinguish openings in trees from openings including also bushes.
Percentiles on height give another description of the vertical distribution of the canopy that could be useful for your application. Pn is the height above ground of an horizontal plane so that n% of the points are above the plane (and (100-n)% are below). P50 is the median of the heights. You could consider you have an opening when the P90 or P95 percentiles are below a certain level (3 m for example).
You can compute a DTM between 0.5 or 1 m grid step but for the penetration index or the percentiles you need more points per pixel to get some statistical significance. With 4 m grid step you will get almost 129 points/pixel. This would be the minimum acceptable.
I believe you can compute all of this with Fusion but I'm not an expert on Fusion. It is here:
Regards