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How to read and visualize my lidar data?

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Kevin Chng
Kevin Chng on 16 Apr 2019
Answered: TripleSSSS on 30 Apr 2020
Hi All,
My lidar data is in bin file :
Anyone here has any idea how to read my lidar data in MATLAB?

  3 Comments

KSSV
KSSV on 16 Apr 2019
Do you have any info on the format? It is read by fread on knowing the format of the file.
Kevin Chng
Kevin Chng on 16 Apr 2019
I'm not sure with that, i download the data from the link below:
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
KSSV on 16 Apr 2019
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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Accepted Answer

KSSV
KSSV on 16 Apr 2019
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')

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More Answers (1)

TripleSSSS
TripleSSSS on 30 Apr 2020
Read the data as a float using fread.
For nusences dataset each point in the point cloud contains 5 floats. reshape the data and use pcshow for display.

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