Open yfcube opened 3 years ago
Hello, I am very interested in your work on adapting Apollo to Rs-Lidar M1. Currently I am also adapting to M1, but I have encountered some problems. Can you send out your contribution? This is very important to me, thank you.
Hi,i also encountered the same problem. When the point cloud intensity is 0,the display result of cyber_visualizer will be much less.How did you deal with this problem? looking forward to your reply,thanks
System information
Description
Hi, I'm now modifying the robosense lidar driver module to support the latest RS-M1 LiDAR produced by Robosense.
I've recorded a frame of point cloud from RSM1. If published from a stand-alone lidar driver outside apollo project and displayed in RViz, the point cloud looks like this:
When published inside apollo and displayed in cyber_visualizer, the point cloud looks like the following picture. Most of the points on the wall are missing.
Soon, I realized that these points are not missing, they are just too dark to be recognized. So I manually set all point intensities to 255 (which the highest intensity value as defined by Robosense). And all points are "missing":
When all point intensities are set to 0, all points are shown correctly:
It seems that lower point intensity will be displayed brighter in cyber_visualizer.
Is it assumed that in Apollo the lower intensity value represents the higher point intensity? Should I use (255 - point.intensity) to transform the intensity value defined by Robosense to the value expected by Apollo?
Or just because I made some mistakes when using cyber_visualizer?