# LidarView, Lidar, and SLAM

**URL:** https://discourse.paraview.org/c/lidar/15.md

[Latest](https://discourse.paraview.org/latest.md) · [Categories](https://discourse.paraview.org/categories.md) · [Tags](https://discourse.paraview.org/tags.md)

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## [About the LidarView, Lidar, and SLAM category](https://discourse.paraview.org/t/about-the-lidarview-lidar-and-slam-category/7082)

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**Author:** [@cory.quammen](https://discourse.paraview.org/u/cory.quammen)\
**Replies:** 0

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Discussion of topics related to LidarView, Lidar, and SLAM.

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## [LidarView and Lidar SLAM next training sessions](https://discourse.paraview.org/t/lidarview-and-lidar-slam-next-training-sessions/14056)

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**Author:** [@Gatien\_Ferret](https://discourse.paraview.org/u/Gatien_Ferret)\
**Replies:** 3\
**Last updated:** [September 22, 2026, 12:49pm UTC](https://discourse.paraview.org/t/lidarview-and-lidar-slam-next-training-sessions/14056 "2026-09-22T12:49:43Z")

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Did you register for the next training sessions in CET time zone ? LidarView Training, a full-day training given on March 26, 2024 and starting at 9:00 AM Paris time (CET / GMT+1h). This cover the main features LidarV…

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## [LVServer issue](https://discourse.paraview.org/t/lvserver-issue/17549)

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**Author:** [@rowan](https://discourse.paraview.org/u/rowan)\
**Replies:** 2\
**Last updated:** [May 11, 2026, 8:13am UTC](https://discourse.paraview.org/t/lvserver-issue/17549 "2026-05-11T08:13:35Z")

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I have a python program that connects to a pvserver and I’m trying to extend its capabilities to LidarView. It runs inside a docker container and I copy the python 3.12 site-packages into the containers site-packages dir…

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## [How to load e57 files in LidarView](https://discourse.paraview.org/t/how-to-load-e57-files-in-lidarview/17504)

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**Author:** [@rowan](https://discourse.paraview.org/u/rowan)\
**Replies:** 5\
**Last updated:** [April 15, 2026, 5:54pm UTC](https://discourse.paraview.org/t/how-to-load-e57-files-in-lidarview/17504 "2026-04-15T17:54:57Z")

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I’m trying to load an e57 file in LidarView and I can’t figure out which reader to use. I’ve tried a couple of them, like the default AVS UCD Reader: I don’t get any errors but I can’t see anything loaded.

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## [lvsb cmake -DENABLE\_openxrsdk:BOOL=ON option error + plugin manager menu option](https://discourse.paraview.org/t/lvsb-cmake-denable-openxrsdk-bool-on-option-error-plugin-manager-menu-option/17472)

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**Author:** [@simonmssu](https://discourse.paraview.org/u/simonmssu)\
**Replies:** 2\
**Last updated:** [March 13, 2026, 5:11pm UTC](https://discourse.paraview.org/t/lvsb-cmake-denable-openxrsdk-bool-on-option-error-plugin-manager-menu-option/17472 "2026-03-13T17:11:45Z")

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Hello, we would like to run LidarView with ParaView’s XR Interface Plugin to see our point cloud data on a Head Mounted Display. However, my cmake options below cmake ..\\lvsb -GNinja -DCMAKE\_BUILD\_TYPE=Release -DENABL…

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## [Lidarview-odom-slam integration](https://discourse.paraview.org/t/lidarview-odom-slam-integration/17292)

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**Author:** [@white\_11](https://discourse.paraview.org/u/white_11)\
**Replies:** 1\
**Last updated:** [February 27, 2026, 9:56am UTC](https://discourse.paraview.org/t/lidarview-odom-slam-integration/17292 "2026-02-27T09:56:24Z")

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I’m working on extending LidarView to integrate live external odometry data from my robot into the SLAM (Online) pipeline. The goal is to let the SLAM algorithm fuse both LiDAR point cloud and odometry information for i…

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## [Seeking 3D LiDAR + IMU datasets for SLAM optimization and Loop Closure testing in LidarView 5.2.0](https://discourse.paraview.org/t/seeking-3d-lidar-imu-datasets-for-slam-optimization-and-loop-closure-testing-in-lidarview-5-2-0/17454)

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**Author:** [@Jadid\_Tamayo](https://discourse.paraview.org/u/Jadid_Tamayo)\
**Replies:** 2\
**Last updated:** [February 27, 2026, 6:53am UTC](https://discourse.paraview.org/t/seeking-3d-lidar-imu-datasets-for-slam-optimization-and-loop-closure-testing-in-lidarview-5-2-0/17454 "2026-02-27T06:53:32Z")

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Hi everyone, I am currently evaluating LidarView’s 5.2.0 SLAM capabilities. I am looking for high-quality, publicly available .pcap datasets that include synchronized IMU data. If anyone has links to datasets or spec…

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## [ROS2-IO in real-time with ROS2 topics (PC2 + IMU data).](https://discourse.paraview.org/t/ros2-io-in-real-time-with-ros2-topics-pc2-imu-data/17401)

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**Author:** [@pierre](https://discourse.paraview.org/u/pierre)\
**Replies:** 5\
**Last updated:** [January 19, 2026, 10:20pm UTC](https://discourse.paraview.org/t/ros2-io-in-real-time-with-ros2-topics-pc2-imu-data/17401 "2026-01-19T22:20:47Z")

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Hello! I use a custom Lidar system (non-rotating, high speed), and I wanted to explore the possibility of using LidarView with it. I’m interested in having ROS 2 data directly into LidarView, in real-time. So not only …

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## [How to Add a Custom Plugin and Interpreter in LidarView](https://discourse.paraview.org/t/how-to-add-a-custom-plugin-and-interpreter-in-lidarview/17000)

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**Author:** [@Silver\_11](https://discourse.paraview.org/u/Silver_11)\
**Replies:** 18\
**Last updated:** [October 23, 2025, 6:41am UTC](https://discourse.paraview.org/t/how-to-add-a-custom-plugin-and-interpreter-in-lidarview/17000 "2025-10-23T06:41:03Z")

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I’m trying to add support for a new LiDAR model in LidarView, but currently, the software doesn’t support this sensor natively. I’d like to implement a custom plugin, similar to how the Livox plugin is integrated. Here …

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## [Use of external trajectory, LAS export, batch mode](https://discourse.paraview.org/t/use-of-external-trajectory-las-export-batch-mode/17167)

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**Author:** [@Toby](https://discourse.paraview.org/u/Toby)\
**Replies:** 7\
**Last updated:** [October 21, 2025, 12:02pm UTC](https://discourse.paraview.org/t/use-of-external-trajectory-las-export-batch-mode/17167 "2025-10-21T12:02:13Z")

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Hi, I’ve been doing some testing with SLAM inside LidarView, using data acquired with a Hesai Pandar XT32 and a GNSS/INS positioning unit (IMU) from which we can obtain a post-processed tightly-coupled trajectory. First…

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## [Are the Angle and Firetime Correction automatically applied for Hesai products (XT32 specifically)](https://discourse.paraview.org/t/are-the-angle-and-firetime-correction-automatically-applied-for-hesai-products-xt32-specifically/16832)

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**Author:** [@parlor605](https://discourse.paraview.org/u/parlor605)\
**Replies:** 7\
**Last updated:** [June 27, 2025, 7:59am UTC](https://discourse.paraview.org/t/are-the-angle-and-firetime-correction-automatically-applied-for-hesai-products-xt32-specifically/16832 "2025-06-27T07:59:38Z")

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I’m testing the Hesai XT32 together with LidarView. According to the support from Hesai, the angle and firetime correction can be requested from the Lidar sensor. Is LidarView requesting the device specific Angle and fi…

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## [aggregate points from trajectory not working](https://discourse.paraview.org/t/aggregate-points-from-trajectory-not-working/16759)

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**Author:** [@Ber131](https://discourse.paraview.org/u/Ber131)\
**Replies:** 6\
**Last updated:** [June 23, 2025, 10:37am UTC](https://discourse.paraview.org/t/aggregate-points-from-trajectory-not-working/16759 "2025-06-23T10:37:57Z")

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Hello Lidarviewers - i’m quite new to this and apologies if this has been asked before, but I just cannot get it working: Im using a Robosense RS16 to SLAM a dense point cloud. with the Lidarview 5.1.0 the slam works a…

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## [SLAM not projecting points properly](https://discourse.paraview.org/t/slam-not-projecting-points-properly/16564)

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**Author:** [@uasdev](https://discourse.paraview.org/u/uasdev)\
**Replies:** 3\
**Last updated:** [May 8, 2025, 7:42pm UTC](https://discourse.paraview.org/t/slam-not-projecting-points-properly/16564 "2025-05-08T19:42:01Z")

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I am running the SLAM (offline) algorithm on a lidar dataset collected from an airborne drone. The points are not projected on the correct XY plane, and the output points do not have the correct coordinates (for my UTM z…

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## [Large external sensors data file for slam](https://discourse.paraview.org/t/large-external-sensors-data-file-for-slam/16532)

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**Author:** [@uasdev](https://discourse.paraview.org/u/uasdev)\
**Replies:** 2\
**Last updated:** [May 2, 2025, 7:16pm UTC](https://discourse.paraview.org/t/large-external-sensors-data-file-for-slam/16532 "2025-05-02T19:16:02Z")

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How do we deal with a large external sensor data file (.csv) when running a slam (offline)? For example, I had my lidar “on” for about an hour. I looped through all .pcap files for this capture to extract the lidar time…

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## [External calibration file not well formed\_SLAM (online) Error](https://discourse.paraview.org/t/external-calibration-file-not-well-formed-slam-online-error/16509)

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**Author:** [@uasdev](https://discourse.paraview.org/u/uasdev)\
**Replies:** 2\
**Last updated:** [April 23, 2025, 4:11am UTC](https://discourse.paraview.org/t/external-calibration-file-not-well-formed-slam-online-error/16509 "2025-04-23T04:11:21Z")

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When running the SLAM (online) function, I am receiving the following error: “Calibration file not well formed → calibration is set to identity vtkSlam: Calibration has not been loaded. Make sure to calibrate your sens…

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## [Open Multiple Cameras to Same Dataset](https://discourse.paraview.org/t/open-multiple-cameras-to-same-dataset/16181)

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**Author:** [@figbar](https://discourse.paraview.org/u/figbar)\
**Replies:** 2\
**Last updated:** [February 28, 2025, 8:18pm UTC](https://discourse.paraview.org/t/open-multiple-cameras-to-same-dataset/16181 "2025-02-28T20:18:44Z")

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Hello, I have a lidar dataset that I am running SLAM on. I would like to open two cameras following this scene (the first will be an ‘overhead’ view, while the second has a custom animation applied to it). How can I set…

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## [LidarView 5.0 & 5.0.1 crash on Win10 & Win11 - Aggregate points from Trajectory](https://discourse.paraview.org/t/lidarview-5-0-5-0-1-crash-on-win10-win11-aggregate-points-from-trajectory/15837)

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**Author:** [@Lehel\_Seres](https://discourse.paraview.org/u/Lehel_Seres)\
**Replies:** 6\
**Last updated:** [January 30, 2025, 1:40pm UTC](https://discourse.paraview.org/t/lidarview-5-0-5-0-1-crash-on-win10-win11-aggregate-points-from-trajectory/15837 "2025-01-30T13:40:46Z")

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Hi, I’m quite new here. First of all, lidarview is a great tool, thanks for developing it for free! For me the killer feature is SLAM and the ability to Aggregate points on a trajectory. This way it’s easy to bulid maps…

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## [Get SLAM Trajectory Position and Orientation in Python](https://discourse.paraview.org/t/get-slam-trajectory-position-and-orientation-in-python/15971)

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**Author:** [@figbar](https://discourse.paraview.org/u/figbar)\
**Replies:** 1\
**Last updated:** [January 15, 2025, 12:44pm UTC](https://discourse.paraview.org/t/get-slam-trajectory-position-and-orientation-in-python/15971 "2025-01-15T12:44:19Z")

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I’m attempting to use the python scripting to position the camera at the latest trajectory position / orientation while running online SLAM. However, I’m having trouble extracting the trajectory details from the filter. …

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## [Pcap and SLAM poses timestamps different by 2hrs](https://discourse.paraview.org/t/pcap-and-slam-poses-timestamps-different-by-2hrs/15753)

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**Author:** [@enxcjbc](https://discourse.paraview.org/u/enxcjbc)\
**Replies:** 2\
**Last updated:** [November 20, 2024, 8:57am UTC](https://discourse.paraview.org/t/pcap-and-slam-poses-timestamps-different-by-2hrs/15753 "2024-11-20T08:57:47Z")

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Hi, My PCAP has timestamps from 1684954507.791-1684954532.807, but when I run SLAM on the PCAP my resulting trajectory (.poses) file has timestamps 1684947304.74-1684947329.736. There is basically a 2hr (7200sec) diffe…

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## [velodyne puck 16](https://discourse.paraview.org/t/velodyne-puck-16/15734)

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**Author:** [@Emad66](https://discourse.paraview.org/u/Emad66)\
**Replies:** 16\
**Last updated:** [November 19, 2024, 8:10pm UTC](https://discourse.paraview.org/t/velodyne-puck-16/15734 "2024-11-19T20:10:12Z")

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hello everyone … I have a Lidarview ver. 5 .when I start to recording data from velodyne 16 … it show me everything good … but after see the recoded file only show me the first view only … did not record all the views … …

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## [LidarView 5 SLAM not working](https://discourse.paraview.org/t/lidarview-5-slam-not-working/15749)

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**Author:** [@enxcjbc](https://discourse.paraview.org/u/enxcjbc)\
**Replies:** 4\
**Last updated:** [November 19, 2024, 5:37pm UTC](https://discourse.paraview.org/t/lidarview-5-slam-not-working/15749 "2024-11-19T17:37:57Z")

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In version 4.xx of LidarView I was able to use the SLAM filter, and by simply pressing the play button I could see the trajectory being created and the full cloud being created. I have just tried V5 and 5.0.1 and when I …

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## [Livox HAP and GNSS data](https://discourse.paraview.org/t/livox-hap-and-gnss-data/15745)

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**Author:** [@Alvaro](https://discourse.paraview.org/u/Alvaro)\
**Replies:** 1\
**Last updated:** [November 19, 2024, 1:42pm UTC](https://discourse.paraview.org/t/livox-hap-and-gnss-data/15745 "2024-11-19T13:42:16Z")

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Hi, I’m still trying out Lidarview with Livox HAP. In this case I’m trying to add GNSS data to reduce SLAM drift and torsion throughout a recording instead of using the IMU. I’m using the instructions from this link: h…

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## [Lidarview with Livox HAP and integrated IMU](https://discourse.paraview.org/t/lidarview-with-livox-hap-and-integrated-imu/15446)

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**Author:** [@Alvaro](https://discourse.paraview.org/u/Alvaro)\
**Replies:** 8\
**Last updated:** [November 18, 2024, 10:01am UTC](https://discourse.paraview.org/t/lidarview-with-livox-hap-and-integrated-imu/15446 "2024-11-18T10:01:35Z")

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Greetings, I recently acquired a Livox HAP LIDAR and I’m trying out Lidarview with it. I’ve encountered a few things that I don’t know if I’m doing wrong. The version of the Livox HAP I have is the version with IMU, Li…

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## [SLAM Lidar data from boat](https://discourse.paraview.org/t/slam-lidar-data-from-boat/15627)

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**Author:** [@SVO](https://discourse.paraview.org/u/SVO)\
**Replies:** 1\
**Last updated:** [November 4, 2024, 11:13am UTC](https://discourse.paraview.org/t/slam-lidar-data-from-boat/15627 "2024-11-04T11:13:10Z")

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Hello, I am using LidarView to SLAM lidar data from a Hesai XT32 scanner. The scanner is mounted on a small boat and is used to scan docks, piers, quays and the waterside. Since water doesn’t return data, contrary to a …

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## [pvserver cmake flag?](https://discourse.paraview.org/t/pvserver-cmake-flag/15366)

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**Author:** [@wsherman](https://discourse.paraview.org/u/wsherman)\
**Replies:** 3\
**Last updated:** [September 10, 2024, 2:03pm UTC](https://discourse.paraview.org/t/pvserver-cmake-flag/15366 "2024-09-10T14:03:57Z")

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Hey Everyone, We’re working on a bit of a crossover effort between ParaView and LidarView where we’d like to have access to some ParaView features while using LidarView. One specific case is that we’d like to connect L…

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## [Running LidarView with ParaView CAVE Interaction plugin](https://discourse.paraview.org/t/running-lidarview-with-paraview-cave-interaction-plugin/15349)

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**Author:** [@simonmssu](https://discourse.paraview.org/u/simonmssu)\
**Replies:** 3\
**Last updated:** [September 7, 2024, 11:40pm UTC](https://discourse.paraview.org/t/running-lidarview-with-paraview-cave-interaction-plugin/15349 "2024-09-07T23:40:17Z")

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Hello, We are interested in lidar data visualization and LidarView appears to be a good option. We have been leveraging CAVE Interaction Plugin in ParaView and would like to also use CAVE Interaction plugin in LidarVie…

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## [Error in update external sensor (LidarView SLAM Not Integrating External Sensor Trajectory Data)](https://discourse.paraview.org/t/error-in-update-external-sensor-lidarview-slam-not-integrating-external-sensor-trajectory-data/15004)

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**Author:** [@Nitin\_Garg](https://discourse.paraview.org/u/Nitin_Garg)\
**Replies:** 14\
**Last updated:** [August 28, 2024, 8:53am UTC](https://discourse.paraview.org/t/error-in-update-external-sensor-lidarview-slam-not-integrating-external-sensor-trajectory-data/15004 "2024-08-28T08:53:03Z")

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I use a Velodyne VLP-16 LiDAR and an Advanced Navigation (Spatial) GNSS device. I have a \*.pcap file with a position orientation reader with global x,y,z, and roll, pitch,yaw. I have generated a csv file with position wi…

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## [Writing a Plugin to LidarView (Ubuntu 20.04)](https://discourse.paraview.org/t/writing-a-plugin-to-lidarview-ubuntu-20-04/15160)

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**Author:** [@Nerd](https://discourse.paraview.org/u/Nerd)\
**Replies:** 9\
**Last updated:** [August 13, 2024, 4:41am UTC](https://discourse.paraview.org/t/writing-a-plugin-to-lidarview-ubuntu-20-04/15160 "2024-08-13T04:41:59Z")

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I’ve installed LidarView 4.5.0 using the superbuild method, including the SLAM plugin. I have a LiDAR device for which there is no existing support in LidarView. I want to create a new plugin to integrate my LiDAR device…

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## [I'm not seeing the loop closure parameter in the general parameters in lidarview](https://discourse.paraview.org/t/im-not-seeing-the-loop-closure-parameter-in-the-general-parameters-in-lidarview/13502)

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**Author:** [@Shane\_Holmes](https://discourse.paraview.org/u/Shane_Holmes)\
**Replies:** 19\
**Last updated:** [August 9, 2024, 12:39pm UTC](https://discourse.paraview.org/t/im-not-seeing-the-loop-closure-parameter-in-the-general-parameters-in-lidarview/13502 "2024-08-09T12:39:28Z")

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From this resource, https://gitlab.kitware.com/keu-computervision/slam/-/blob/master/paraview\_wrapping/Plugin/doc/How\_to\_SLAM\_with\_LidarView.md?ref\_type=heads#external-sensors-use and this resource https://www.kitware…

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## [LidarView Superbuild build errors](https://discourse.paraview.org/t/lidarview-superbuild-build-errors/14550)

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**Author:** [@chimanaco](https://discourse.paraview.org/u/chimanaco)\
**Replies:** 10\
**Last updated:** [May 9, 2024, 2:05pm UTC](https://discourse.paraview.org/t/lidarview-superbuild-build-errors/14550 "2024-05-09T14:05:59Z")

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I have been trying to build LidarView-Superbuild following this page. https://gitlab.kitware.com/LidarView/lidarview-superbuild I got errors below when I ran the command cmake --build . -j. Any help really appreciate…

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