How to read and visualize my lidar data?

Question

Kevin Chng 2019-4-16

0
链接

此问题的直接链接

https://ww2.mathworks.cn/matlabcentral/answers/456615-how-to-read-and-visualize-my-lidar-data

回答： TripleSSSS 2020-4-30

Hi All,

My lidar data is in bin file :

https://techsource-my.sharepoint.com/:u:/g/personal/kevin_chng_techsource-asia_com/EfXGPElYfNxFum-3Vy7BVJ0BMzJWo2a1oWAK7vqzybdLJQ?e=ZxaW4D

Anyone here has any idea how to read my lidar data in MATLAB?

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Kevin Chng 2019-4-16

在 MATLAB Online 中打开

I'm not sure with that, i download the data from the link below:

https://www.nuscenes.org/download

personally, I feel they should be in pcd file, somehow the downloaded file is bin.

I have tried

fid = fopen('n008-2018-08-01-15-16-36-0400__LIDAR_TOP__1533151061547455.pcd.bin', 'r');
data = fread(fid, '*int16');
fclose(fid);

I get a series of numeric data (one column), should i restructure it to 3 coloumns to represent x,y,z? Any insight?

KSSV 2019-4-16

Actually after reading the data using fread it will be reshaped to required dimension using reshape. To achieve this format of the file should be known.

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Answer 1

KSSV 2019-4-16

0
链接

此回答的直接链接

https://ww2.mathworks.cn/matlabcentral/answers/456615-how-to-read-and-visualize-my-lidar-data#answer_370818

在 MATLAB Online 中打开

Is this fine?

fid = fopen('n008-2018-08-01-15-16-36-0400__LIDAR_TOP__1533151061547455.pcd.bin', 'r');
data = fread(fid,'single');
fclose(fid);
data = reshape(data,[],2) ; 
plot(data(:,1),data(:,2),'.r')