Doubts about virtual_lidar_points

[yukaizhou]

Hi, thank you for such a great job. Some questions need your guidance. I downloaded the virtual points() generated by you. What I want to confirm is that each file here is the same as the point cloud bin file provided in nuscenes, that is, the point cloud information under the laser time stamp. I want to know what is the information length of each laser point and what information does each index correspond to?

[yukaizhou]

When I use np.fromfile(npy file), what I get is an array. How should I divide it according to the number of point clouds? I noticed that someone mentioned (x,y,z,c*10(nuscenes 10 categories), e)) in the issue you answered, but this length is incorrect.