Can I use recorded lidar .bin data for custom python code

Hi!!

I record simple lidar data (xx.bin) using Driveworks sample program.
Not to use any program which provided Driveworks, can I read lidar .bin file with my my python code?
I tried to read .bin file using numpy.fromfile() function and get some array, but I can not interpret data.
Contrary to my expectations, the data did not seem to mean coordinate values and reflectivity lidar data.

Dear @pjhkb083gak9,
Could you verify the recorded data using lidar replay sample in DW.

Dear @SivaRamaKrishnaNV,
Yes. It can be replayed by lidar replay sample.
Also, I tried to check sample data .bin file in driveworks-2.2/data/samples/lidar/lidar_velodyne64.bin.

I read this file using python code
(i.e. pointcloud = np.fromfile(str(lidar_data), dtype=np.float64, count=-1) )
and I get the array, and print(pointcloud[0:70]) command shows me that array

[ 8.04866145e-314 6.36598737e-314 1.68681620e+160 1.18811857e-075
0.00000000e+000 0.00000000e+000 0.00000000e+000 0.00000000e+000
0.00000000e+000 0.00000000e+000 0.00000000e+000 0.00000000e+000
0.00000000e+000 0.00000000e+000 0.00000000e+000 0.00000000e+000
0.00000000e+000 0.00000000e+000 0.00000000e+000 0.00000000e+000
0.00000000e+000 0.00000000e+000 0.00000000e+000 0.00000000e+000
0.00000000e+000 0.00000000e+000 0.00000000e+000 0.00000000e+000
0.00000000e+000 0.00000000e+000 0.00000000e+000 0.00000000e+000
0.00000000e+000 0.00000000e+000 0.00000000e+000 0.00000000e+000
2.55966675e-311 7.37622976e-309 -9.00765991e+290 4.05631868e+084
8.12188290e-196 9.65841925e-099 4.25509385e+058 1.02606533e-124
-4.91476780e-259 -1.41202111e-105 2.78390023e-099 2.00514496e-309
2.17414754e+074 4.56986686e+156 9.49715887e-007 9.00347774e-228
2.28963259e+021 5.40558963e+255 8.04021602e-275 8.69062786e+102
3.50810669e+130 1.60958992e-262 -2.02402135e+093 3.89969880e+077
6.23242300e-243 1.16235410e+040 4.63419275e+077 -9.00765991e+290
4.05631868e+084 8.12188290e-196 9.65841925e-099 4.25509385e+058
1.02606533e-124 -4.91476780e-259]

Could you let me know the meaning of this values?

Dear @pjhkb083gak9,
The recorded data contains some metadata information and you need to use DW APIs to decode data and extract information. It is not possible to decode the recorded data using python script. Do you have any queries furthur? If not, we can close the topic

1 Like

My curiosity has been satisfied.
Thanks for your reply!