Now this is interesting and important. In order to facilitate the broadest use of VeloView and encourage further community involvement, Velodyne LiDAR and Kitware have worked together to release VeloView as an open-source project.
VeloView empowers real-time, 3D visualization of LiDAR data from Velodyne’s HDL sensors and is built on Kitware’s ParaView technology and underlying Visualization Toolkit (VTK). The open-source VeloView provides an easy-to-use and modern-style tool for visualization and processing of Velodyne’s data-rich, 3D LiDAR sensors, supporting live sensor streams and run-time display of previously captured data.
Have a look.