<aside> <img src="/icons/arrow-down-line_gray.svg" alt="/icons/arrow-down-line_gray.svg" width="40px" /> 2026/07/26

Exwayz 3D Mapping 1.4.1

exwayz_slam and lidar_viewer: New LiDAR sensors & data formats support.
- Livox driver is now able to decode spherical data-type.
- Add support for Inoviz 11.1 point cloud protocol (Condor C0 and later).
- Add support for Aeva sensors --aeva-pcap.
- Add support for Robosense Fairy.
- Add support for Hesai ATX new firmware update.
- Add back support for Linux cooked-mode capture (SLL) in PCAP reading.
- POINTCLOUD2_TIMESTAMPS_RELATIVE environment variable can be used to add header timestamp to PointCloud2 per-point timestamps.
exwayz_slam:
- (experimental) Introduced enable_weighting experimental feature.
- (experimental) Add auto mode for the d_max setting of the ICP.
exwayz_colorization support input directory of images
Add -no-vis argument to lidar_viewer to enable using it as data converter in headless environments.
exwayz_colorization: User can now specify timestamps.txt file location.
Improve traj_odometry_filter tool, which is now more accurate leveraging Exwayz standard errors and can export a report with statistics about filtering
exwayz_map_cleaner & exwayz_ground_classification :
- Precision & recall upgrade: improvement at buffer junctions & curb edges.

Deb Installer

x86_64: exwayz_3d_mapping-1.4.1-linux-u24.04-amd64.deb

ARMv8: exwayz_3d_mapping-1.4.1-linux-u24.04-aarch64.deb

x86_64: exwayz_3d_mapping-1.4.1-linux-u20.04-amd64.deb

ARMv8: exwayz_3d_mapping-1.4.1-linux-u20.04-aarch64.deb

</aside>

<aside> <img src="/icons/arrow-down-line_gray.svg" alt="/icons/arrow-down-line_gray.svg" width="40px" /> 2026/07/14

exwayz_slam and lidar_viewer: New LiDAR sensors & data formats support
- Robosense E1R sensor.
- --innoviz-mf4 input dataset type to handle Innvoiz MF4 files.
- Rosbag exwayz_msgs/msg/Packet topic type for Livox and Robosense.
exwayz_slam:
- Divide by ~2 the RAM usage.
- Introduce intensity filter (based on min and max values) in the pre_process step.
- center_sph shall now be provided as a pose YAML node, thus allowing loading from a calibration.
- Supports unindexed rosbags (ROS 1).
Change LAS I/O backed:
- Speedup LAS write x4.
- Support reading LAS format 1.5.
- ⚠️ LAZ format is not supported anymore and will be added back in future releases.
Improve ground classification and map cleaner performances on edge-cases.

x86_64: exwayz_3d_mapping-1.3.10-linux-u24.04-amd64.deb

ARMv8: exwayz_3d_mapping-1.3.10-linux-u24.04-aarch64.deb

x86_64: exwayz_3d_mapping-1.3.10-linux-u20.04-amd64.deb

ARMv8: exwayz_3d_mapping-1.3.10-linux-u20.04-aarch64.deb

x86_64: exwayz_3d_mapping-1.3.10-linux-u24.04-amd64.tar.gz

ARMv8: exwayz_3d_mapping-1.3.10-linux-u24.04-aarch64.tar.gz

x86_64: exwayz_3d_mapping-1.3.10-linux-u20.04-amd64.tar.gz

ARMv8: exwayz_3d_mapping-1.3.10-linux-u20.04-aarch64.tar.gz

</aside>

exwayz_slam and lidar_viewer: New LiDAR sensors support
- Hesai AT128.
- Hesai ATX.
- Improved Innoviz Two sensor support.
exwayz_ground_classification and exwayz_map_cleaner use new buffer strategy with d_update to lighten RAM usage.
exwayz_ground_classification robustness improvement against ego-vehicle platform and dynamyc object trails
Support RGB input / output when post-processing LAS files with Exwayz binaries (exwayz_subampling for instance).
Support for begin / end program arguments with all PCAP datasets.