Hesai LiDAR SDK 2.0

A C++ SDK for receiving and parsing point cloud data from Hesai LiDAR sensors, online over the network or offline from PCAP files.

Licenses

Code: BSD-3-Clause (opens in a new tab)
Read by Robotheca from LICENSE (opens in a new tab) (BSD-3-Clause) at commit 534c707 (opens in a new tab), on 16 Oct 2026.
Commercial use: Yes

Parses live point cloud and fault data streamed by Hesai lidars, and can also parse recorded PCAP files offline.
Supports a broad range of Pandar, OT, QT, XT, AT, FT and JT lidar models, listed in a compatibility table.
Offers optional point cloud visualization through PCL, saving to PCD files, and coordinate transformation.
Can filter packets by source IP and port to separate data from several lidars, and run two SDK instances in parallel.
Provides optional GPU acceleration, multi-threaded parsing, per-point timestamps, and PTC API commands for lidar configuration.
Builds with CMake; the SDK can be compiled without OpenSSL when PTCS communication is not needed.

Written by Robotheca from the project's README (opens in a new tab) at commit 534c707.

Difficulty: Intermediate
Hardware it needs, as the project states it: Operating systems: Ubuntu 16/18/20/22.04 and Windows 10. Compilers: CMake 3.8.0 or later with G++ 7.5 or later on Ubuntu, or MSVC 2019 or later on Windows. Optional dependencies: PCL for visualization, libpcap for PCAP files, and OpenSSL for TLS/mTLS PTCS communication.
How to start: The project's README (opens in a new tab)

Checked on GitHub on 16 Oct 2026.

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