I'm using a-loam as part of a ros workflow to help stabilize point clouds captured with an ouster lidar scanner. I feed a-loam data played from a bag (referred to as pc.bag) containing PointCloud2 and imu messages while recording the the /velodyne_cloud_registered topic of PointCloud2 messages.
My issue when I visualize this data is I only see colored rings from bottom to top instead of intensity values.
I'm using a-loam as part of a ros workflow to help stabilize point clouds captured with an ouster lidar scanner. I feed a-loam data played from a bag (referred to as
pc.bag) containing PointCloud2 and imu messages while recording the the /velodyne_cloud_registered topic of PointCloud2 messages.My issue when I visualize this data is I only see colored rings from bottom to top instead of intensity values.
After inspecting some of the code base I see that there is a line setting the intensity value to something else https://github.com/HKUST-Aerial-Robotics/A-LOAM/blob/e51f88c12b483ce42dfa219783712c7234dc8c08/src/scanRegistration.cpp#L239, but when I comment it out, I still don't get the correct values.
Is there some where in the code where I can specify that I want the original values which my
pc.baghas?