How to read and visualize my lidar data?

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?

[KSSV]

Do you have any info on the format? It is read by fread on knowing the format of the file.

[Kevin Chng]

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]

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.

Answer 1

[KSSV]

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')

Answer 2

[TripleSSSS]

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.