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Read, write, and visualize lidar data

Lidar readers process the raw data generated by lidar sensors. There are a wide variety of lidar sensors available in the industry, which generate lidar data in different formats. Lidar Toolbox™ currently supports reading data in the PLY, Velodyne® PCAP, PCD, LAS, LAZ, Ibeo, Ouster® and Hesai® PCAP sensor formats.

You can also stream data from Velodyne and Ouster sensors. For more information, see

LAS is an industry-standard binary format for storing airborne lidar data. A LAS or LAZ data file contains lidar point cloud data. In addition to lidar point cloud data, a LAS data file can store references to feature classes containing surface classification data. Ibeo sensors, which are developed by Ibeo Automotive Systems, create Ibeo data container (IDC) files that can contain data for multiple sensors simultaneously, such as IMU, GPS, camera, and lidar. The Ibeo reader object extracts only lidar point cloud and plane data from the files.

Lidar Toolbox supports writing to PLY, PCD, LAS and LAZ sensor formats.


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hesaiFileReaderRead point cloud data from Hesai PCAP file
ousterFileReaderRead point cloud data from Ouster PCAP file
lasFileReaderLAS or LAZ file reader
ibeoLidarReaderIbeo data container (IDC) file reader
velodyneFileReaderRead point cloud data from Velodyne PCAP file
pcreadRead 3-D point cloud from PLY or PCD file
lasFileWriterLAS or LAZ file writer
pcwriteWrite 3-D point cloud to PLY or PCD file
pcshowPlot 3-D point cloud
pcshowpairVisualize difference between two point clouds
pcplayerVisualize streaming 3-D point cloud data
pointCloudObject for storing 3-D point cloud