diff --git a/LibCarla/source/carla/sensor/s11n/LidarMeasurement.h b/LibCarla/source/carla/sensor/s11n/LidarData.h
similarity index 85%
rename from LibCarla/source/carla/sensor/s11n/LidarMeasurement.h
rename to LibCarla/source/carla/sensor/s11n/LidarData.h
index 790781ba6..d29942c8d 100644
--- a/LibCarla/source/carla/sensor/s11n/LidarMeasurement.h
+++ b/LibCarla/source/carla/sensor/s11n/LidarData.h
@@ -36,9 +36,6 @@ namespace s11n {
   ///      Xn, Yn, Zn, In
   ///    }
   ///
-  /// @warning WritePoint should be called sequentially in the order in which
-  /// the points are going to be stored, i.e., starting at channel zero and
-  /// increasing steadily.
 
   class LidarDetection {
     public:
@@ -64,7 +61,7 @@ namespace s11n {
       }
   };
 
-  class LidarMeasurement {
+  class LidarData {
     static_assert(sizeof(float) == sizeof(uint32_t), "Invalid float size");
     static const int SizeLidarDetection = 4;
 
@@ -78,12 +75,12 @@ namespace s11n {
     };
 
   public:
-    explicit LidarMeasurement(uint32_t ChannelCount = 0u)
+    explicit LidarData(uint32_t ChannelCount = 0u)
       : _header(Index::SIZE + ChannelCount, 0u) {
       _header[Index::ChannelCount] = ChannelCount;
     }
 
-    LidarMeasurement &operator=(LidarMeasurement &&) = default;
+    LidarData &operator=(LidarData &&) = default;
 
     float GetHorizontalAngle() const {
       return reinterpret_cast<const float &>(_header[Index::HorizontalAngle]);
@@ -97,16 +94,14 @@ namespace s11n {
       return _header[Index::ChannelCount];
     }
 
-    void Reset(uint32_t channels, uint32_t channel_point_count) {
+    void Reset(uint32_t channel_point_count) {
       std::memset(_header.data() + Index::SIZE, 0, sizeof(uint32_t) * GetChannelCount());
-      _points.clear();
-      _points.reserve(SizeLidarDetection * channels * channel_point_count);
-
-      _aux_points.resize(channels);
+      _max_channel_points = channel_point_count;
 
+      _aux_points.resize(GetChannelCount());
       for (auto& aux : _aux_points) {
         aux.clear();
-        aux.reserve(channel_point_count);
+        aux.reserve(_max_channel_points);
       }
     }
 
@@ -117,6 +112,7 @@ namespace s11n {
 
     void SaveDetections() {
       _points.clear();
+      _points.reserve(SizeLidarDetection * GetChannelCount() * _max_channel_points);
 
       for (auto idxChannel = 0u; idxChannel < GetChannelCount(); ++idxChannel) {
         _header[Index::SIZE + idxChannel] = static_cast<uint32_t>(_aux_points.size());
@@ -129,10 +125,12 @@ namespace s11n {
       }
     }
 
-  private:
+  protected:
     std::vector<uint32_t> _header;
     std::vector<std::vector<LidarDetection>> _aux_points;
+    uint32_t _max_channel_points;
 
+  private:
     std::vector<float> _points;
 
   };
diff --git a/LibCarla/source/carla/sensor/s11n/LidarRawData.h b/LibCarla/source/carla/sensor/s11n/LidarRawData.h
index 940d03021..cec1d8084 100644
--- a/LibCarla/source/carla/sensor/s11n/LidarRawData.h
+++ b/LibCarla/source/carla/sensor/s11n/LidarRawData.h
@@ -105,13 +105,11 @@ namespace s11n {
       return _header[Index::ChannelCount];
     }
 
-    void Reset(uint32_t channels, uint32_t channel_point_count) {
+    void Reset(uint32_t channel_point_count) {
       std::memset(_header.data() + Index::SIZE, 0, sizeof(uint32_t) * GetChannelCount());
-      _ser_points.clear();
-      _ser_points.reserve(channels * channel_point_count);
-
-      _aux_points.resize(channels);
+      _max_channel_points = channel_point_count;
 
+      _aux_points.resize(GetChannelCount());
       for (auto& aux : _aux_points) {
         aux.clear();
         aux.reserve(channel_point_count);
@@ -125,6 +123,7 @@ namespace s11n {
 
     void SaveDetections() {
       _ser_points.clear();
+      _ser_points.reserve(GetChannelCount() * _max_channel_points);
 
       for (auto idxChannel = 0u; idxChannel < GetChannelCount(); ++idxChannel) {
         _header[Index::SIZE + idxChannel] = static_cast<uint32_t>(_aux_points.size());
@@ -132,9 +131,12 @@ namespace s11n {
       }
     }
 
-  private:
+  protected:
     std::vector<uint32_t> _header;
     std::vector<std::vector<LidarRawDetection>> _aux_points;
+    uint32_t _max_channel_points;
+
+  private:
     std::vector<LidarRawDetection> _ser_points;
   };
 
diff --git a/LibCarla/source/carla/sensor/s11n/LidarSerializer.h b/LibCarla/source/carla/sensor/s11n/LidarSerializer.h
index 252963828..ce1efd1d2 100644
--- a/LibCarla/source/carla/sensor/s11n/LidarSerializer.h
+++ b/LibCarla/source/carla/sensor/s11n/LidarSerializer.h
@@ -9,7 +9,7 @@
 #include "carla/Debug.h"
 #include "carla/Memory.h"
 #include "carla/sensor/RawData.h"
-#include "carla/sensor/s11n/LidarMeasurement.h"
+#include "carla/sensor/s11n/LidarData.h"
 
 namespace carla {
 namespace sensor {
@@ -24,7 +24,7 @@ namespace s11n {
 
   /// A view over the header of a Lidar measurement.
   class LidarHeaderView {
-    using Index = LidarMeasurement::Index;
+    using Index = LidarData::Index;
   public:
 
     float GetHorizontalAngle() const {
@@ -65,13 +65,13 @@ namespace s11n {
 
     static size_t GetHeaderOffset(const RawData &data) {
       auto View = DeserializeHeader(data);
-      return sizeof(uint32_t) * (View.GetChannelCount() + LidarMeasurement::Index::SIZE);
+      return sizeof(uint32_t) * (View.GetChannelCount() + LidarData::Index::SIZE);
     }
 
     template <typename Sensor>
     static Buffer Serialize(
         const Sensor &sensor,
-        const LidarMeasurement &measurement,
+        const LidarData &measurement,
         Buffer &&output);
 
     static SharedPtr<SensorData> Deserialize(RawData &&data);
@@ -84,11 +84,11 @@ namespace s11n {
   template <typename Sensor>
   inline Buffer LidarSerializer::Serialize(
       const Sensor &,
-      const LidarMeasurement &measurement,
+      const LidarData &data,
       Buffer &&output) {
     std::array<boost::asio::const_buffer, 2u> seq = {
-        boost::asio::buffer(measurement._header),
-        boost::asio::buffer(measurement._points)};
+        boost::asio::buffer(data._header),
+        boost::asio::buffer(data._points)};
     output.copy_from(seq);
     return std::move(output);
   }
diff --git a/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Sensor/RayCastLidar.cpp b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Sensor/RayCastLidar.cpp
index 7e7b73392..e66770749 100644
--- a/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Sensor/RayCastLidar.cpp
+++ b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Sensor/RayCastLidar.cpp
@@ -44,7 +44,7 @@ void ARayCastLidar::Set(const FActorDescription &ActorDescription)
 void ARayCastLidar::Set(const FLidarDescription &LidarDescription)
 {
   Description = LidarDescription;
-  LidarMeasurement = FLidarMeasurement(Description.Channels);
+  LidarData = FLidarData(Description.Channels);
   CreateLasers();
 }
 
@@ -76,7 +76,7 @@ void ARayCastLidar::Tick(const float DeltaTime)
   ReadPoints(DeltaTime);
 
   auto DataStream = GetDataStream(*this);
-  DataStream.Send(*this, LidarMeasurement, DataStream.PopBufferFromPool());
+  DataStream.Send(*this, LidarData, DataStream.PopBufferFromPool());
 }
 
 void ARayCastLidar::ReadPoints(const float DeltaTime)
@@ -99,11 +99,11 @@ void ARayCastLidar::ReadPoints(const float DeltaTime)
   check(ChannelCount == LaserAngles.Num());
 
   const float CurrentHorizontalAngle = carla::geom::Math::ToDegrees(
-      LidarMeasurement.GetHorizontalAngle());
+      LidarData.GetHorizontalAngle());
   const float AngleDistanceOfTick = Description.RotationFrequency * 360.0f * DeltaTime;
   const float AngleDistanceOfLaserMeasure = AngleDistanceOfTick / PointsToScanWithOneLaser;
 
-  LidarMeasurement.Reset(ChannelCount, PointsToScanWithOneLaser);
+  LidarData.Reset(PointsToScanWithOneLaser);
 
 
   GetWorld()->GetPhysicsScene()->GetPxScene()->lockRead();
@@ -116,19 +116,19 @@ void ARayCastLidar::ReadPoints(const float DeltaTime)
       const float Angle = CurrentHorizontalAngle + AngleDistanceOfLaserMeasure * idxPtsOneLaser;
       if (ShootLaser(idxChannel, Angle, Point, Intensity)) {
         Mutex.Lock();
-        LidarMeasurement.WritePointAsync(idxChannel, {Point, Intensity});
+        LidarData.WritePointAsync(idxChannel, {Point, Intensity});
         Mutex.Unlock();
       }
     });
   });
   GetWorld()->GetPhysicsScene()->GetPxScene()->unlockRead();
 
-  LidarMeasurement.SaveDetections();
+  LidarData.SaveDetections();
 
 
   const float HorizontalAngle = carla::geom::Math::ToRadians(
       std::fmod(CurrentHorizontalAngle + AngleDistanceOfTick, 360.0f));
-  LidarMeasurement.SetHorizontalAngle(HorizontalAngle);
+  LidarData.SetHorizontalAngle(HorizontalAngle);
 }
 
 float ARayCastLidar::ComputeIntensity(const FVector &LidarBodyLoc, const FHitResult& HitInfo) const
diff --git a/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Sensor/RayCastLidar.h b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Sensor/RayCastLidar.h
index 7a3a81c96..98daa2e5a 100644
--- a/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Sensor/RayCastLidar.h
+++ b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Sensor/RayCastLidar.h
@@ -12,7 +12,7 @@
 #include "Carla/Sensor/LidarDescription.h"
 
 #include <compiler/disable-ue4-macros.h>
-#include <carla/sensor/s11n/LidarMeasurement.h>
+#include <carla/sensor/s11n/LidarData.h>
 #include <compiler/enable-ue4-macros.h>
 
 #include "RayCastLidar.generated.h"
@@ -23,7 +23,7 @@ class CARLA_API ARayCastLidar : public ASensor
 {
   GENERATED_BODY()
 
-  using FLidarMeasurement = carla::sensor::s11n::LidarMeasurement;
+  using FLidarData = carla::sensor::s11n::LidarData;
 
 public:
 
@@ -58,7 +58,7 @@ private:
 
   TArray<float> LaserAngles;
 
-  FLidarMeasurement LidarMeasurement;
+  FLidarData LidarData;
 
   /// Enable/Disable general dropoff of lidar points
   bool DropOffGenActive;
diff --git a/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Sensor/RayCastRawLidar.cpp b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Sensor/RayCastRawLidar.cpp
index c38b7e96a..0f5ff3f48 100644
--- a/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Sensor/RayCastRawLidar.cpp
+++ b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Sensor/RayCastRawLidar.cpp
@@ -98,7 +98,7 @@ void ARayCastRawLidar::ReadPoints(const float DeltaTime)
   const float AngleDistanceOfTick = Description.RotationFrequency * 360.0f * DeltaTime;
   const float AngleDistanceOfLaserMeasure = AngleDistanceOfTick / PointsToScanWithOneLaser;
 
-  LidarData.Reset(ChannelCount, PointsToScanWithOneLaser);
+  LidarData.Reset(PointsToScanWithOneLaser);
 
   GetWorld()->GetPhysicsScene()->GetPxScene()->lockRead();
   ParallelFor(ChannelCount, [&](int32 idxChannel) {