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.


Here’s a snippet of what I got:


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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