Lidarview with Livox HAP and integrated IMU

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, Lidarview seems to recognize it, but it doesn’t seem to record it or use it to do SLAM.
I’ve tried recording with wireshark and filtering the file to keep only the messages from the point cloud port and the IMU port. When loading it into Lidarview it also seems to recognize the IMU, but it still doesn’t seem to use it during SLAM. Also, in this case, when playing the file, in the information panel with “Raw information” selected, they don’t change, as if I wasn’t reading them.
Am I leaving something out of configuration correctly?

Hi @Alvaro,

Just to confirm, you can see the point cloud with LidarView and your recording?
The SLAM doesn’t support yet to to take IMU data directly from LidarView, you have to save it first in a .csv and then reloaded it in the SLAM (more info here).

Would be possible for you to share the livox .pcap file? (wireshard recording)

Best regards,
TImothée

Thank you very much for the answer.

The point cloud is displayed correctly, and SLAM can be done.

I have tried to follow the steps indicated in the link you indicate. I export the IMU to csv, I change the name of the columns to those expected by Lidarview (acc_x/acc_y/acc_z, w_x/w_y/w_z and time), I create the calibration_external_sensor.mat file with the matrix data indicated by the manufacturer, but when I apply the changes the software closes.

I have performed all the tests with the Windows download of version 5.0 from your page