# LidarView 5 SLAM not working

**URL:** https://discourse.paraview.org/t/lidarview-5-slam-not-working/15749
**Category:** LidarView, Lidar, and SLAM
**Tags:** slam
**Created:** [November 19, 2024, 4:34pm UTC](https://discourse.paraview.org/t/lidarview-5-slam-not-working/15749 "2024-11-19T16:34:23Z")
**Posts on this page:** 5
**Page:** 1

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### Author: ![enxcjbc](https://discourse.paraview.org/letter_avatar_proxy/v4/letter/e/5fc32e/32.png) [@enxcjbc](https://discourse.paraview.org/u/enxcjbc)
#### Post date: [November 19, 2024, 4:34pm UTC](https://discourse.paraview.org/t/lidarview-5-slam-not-working/15749/1 "2024-11-19T16:34:23Z")

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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 add the SLAM filter and press play it just shows single frames of the data and no trajectory being made. Edge map, intensity map etc are all empty too. It looks like SLAM is not working. It’s the same Hesai XT32 pcap, same default basic settings. Any idea what I am doing wrong?

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### Author: ![Timothee\_Couble](https://discourse.paraview.org/user_avatar/discourse.paraview.org/timothee_couble/32/9790_2.png) [@Timothee\_Couble](https://discourse.paraview.org/u/Timothee_Couble)
#### Post date: [November 19, 2024, 4:42pm UTC](https://discourse.paraview.org/t/lidarview-5-slam-not-working/15749/2 "2024-11-19T16:42:25Z")

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Hi @enxcjbc,

Could you please share your pcap ? What is the exact version of LidarView 4.xx you were using ?

Thanks,  
Timothée Couble

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### Author: ![enxcjbc](https://discourse.paraview.org/letter_avatar_proxy/v4/letter/e/5fc32e/32.png) [@enxcjbc](https://discourse.paraview.org/u/enxcjbc)
#### Post date: [November 19, 2024, 5:21pm UTC](https://discourse.paraview.org/t/lidarview-5-slam-not-working/15749/3 "2024-11-19T17:21:57Z")

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Hi Timothée,

The old version that it did work on was 4.5.1.

I have output the first 500 frames to a new pcap as the original is quite large. I have uploaded it here:  
[![](https://discourse.paraview.org/uploads/default/original/2X/c/cf5aceb82e5de87bb93a8b05b8e81dae471bf630.png)HesaiXT32.pcap](https://6t3ca.sharepoint.com/:u:/s/6T3/EePQGUcUzapDiaP6Yxb-SIYB0H0bxz4G13tSzb0DEPf75w?e=jwlrgz)

Thanks in advance for your help,

Chris

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### Author: ![Gatien\_Ferret](https://discourse.paraview.org/user_avatar/discourse.paraview.org/gatien_ferret/32/9789_2.png) [@Gatien\_Ferret](https://discourse.paraview.org/u/Gatien_Ferret)
#### Post date: [November 19, 2024, 5:33pm UTC](https://discourse.paraview.org/t/lidarview-5-slam-not-working/15749/4 "2024-11-19T17:33:56Z")

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Hi Chris,

SLAM does not handle multiple points for the same laser.  
This shall be fixed by activating the option to ignore Dual / Triple points in the interpreter, as below.  
(This may make sense to have this behavior by default)

 ![image](https://discourse.paraview.org/uploads/default/original/2X/7/70967599d6c6d2017f7fff077556fc38984414d0.png)

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### Author: ![enxcjbc](https://discourse.paraview.org/letter_avatar_proxy/v4/letter/e/5fc32e/32.png) [@enxcjbc](https://discourse.paraview.org/u/enxcjbc)
#### Post date: [November 19, 2024, 5:37pm UTC](https://discourse.paraview.org/t/lidarview-5-slam-not-working/15749/5 "2024-11-19T17:37:57Z")

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Thanks for answering so quickly, I can confirm that it works now.

Best regards,

Chris