PointCloud intensity display in cyber_visualizer

[yfcube]

System information

• OS Platform and Distribution (Linux Ubuntu 16.04):
• Apollo installed from (source):
• Apollo version (6.0):

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?

[xuzhangjing]

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.

[moonlight0-0]

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