This project provide the following functions:

1. Lidar data parser of Pandar40&Pandar40P.
2. Convertion of Intensity in Lidar data to RGB .

Indepentantly:

cd Pandar40Tools
mkdir build ; cd build ; cmake ..
make

You can run the testing tools.

Embed to your project:

1. Add following cmake code to your CMakeLists.txt:

add_subdirectory(Pandar40Tools)
...
target_link_libraries(${your_project}
	Pandar40Tools
)

2. Use Pandar40Tools in your c/c++ project:

#include "LidarTools.h"
...

After that, you can invoke all the tools in Pandar40Tools.

Totally free!!!