diff --git a/cpp/bindings/types.h b/cpp/bindings/types.h
index 414bb20..65c0d01 100644
--- a/cpp/bindings/types.h
+++ b/cpp/bindings/types.h
@@ -267,6 +267,13 @@ inline void make_types(nb::module_& m) {
       "List of points in the "
       "point cloud. Note, this is always in row major format."
     )
+    .def_static(
+      "from_vec_positions",
+      &LidarMeasurement::from_vec_positions,
+      "stamp"_a,
+      "positions"_a,
+      "Construct a LidarMeasurement from a stamp and a (n,3) numpy array."
+    )
     .def(
       "to_vec_positions",
       &LidarMeasurement::to_vec_positions,
diff --git a/cpp/evalio/types.h b/cpp/evalio/types.h
index 55d4e63..4f3524f 100644
--- a/cpp/evalio/types.h
+++ b/cpp/evalio/types.h
@@ -218,6 +218,16 @@ struct LidarMeasurement {
     return oss.str();
   }
 
+  static LidarMeasurement
+  from_vec_positions(Stamp stamp, const Eigen::MatrixX3d& positions) {
+    std::vector<Point> pts;
+    pts.reserve(positions.rows());
+    for (const auto& p : positions.rowwise()) {
+      pts.push_back(Point {.x = p.x(), .y = p.y(), .z = p.z()});
+    }
+    return LidarMeasurement(stamp, pts);
+  }
+
   std::vector<Eigen::Vector3d> to_vec_positions() const {
     std::vector<Eigen::Vector3d> eigen_points;
     eigen_points.reserve(points.size());