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