What does a laser data file contain?

What does a laser data file contain?

I’m working with the KITTI odometry dataset. I have a number of Velodyne laser .bin files full gibberish. So I used the following code to unravel the mystery.

https://preview.redd.it/smolmtas0bp51.png?width=561&format=png&auto=webp&s=3bf412d68d78eb239afa85bf488cd47e6723183e

Here’s a snippet of what I got:

https://preview.redd.it/swrctl231bp51.png?width=180&format=png&auto=webp&s=53399792b62d00a68c5f1679a2788e9b1a65165a

As you can see, there’s a pattern of four types of coordinates that’s repeating. I’m hoping you can help me to figure out what they stand for.

I’m trying to create an occupancy grid map, so I need the range and angle of the laser ray relative to the vehicle.
I also have a poses file with an other number of coordinates, which I assume is related to the position of the vehicle?

Anyway, if anyone’s got some insight, it’ll be deeply appreciated.

submitted by /u/Fares26597
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