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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

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


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lasFileReaderLAS or LAZ file reader
velodyneFileReaderRead point cloud data from Velodyne PCAP file
ousterFileReaderRead point cloud data from Ouster PCAP file
hesaiFileReaderRead point cloud data from Hesai PCAP file
e57FileReaderRead point cloud data from E57 file
ibeoLidarReaderIbeo data container (IDC) file reader
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
rangeSensorSimulate range-bearing sensor readings
lidarSensorSimulate lidar sensor readings


Lidar SensorGenerate lidar point cloud data for a scene