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PRBonn / rangenet_lib

Inference module for RangeNet++ (milioto2019iros, chen2019iros)
MIT License
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how to process LIDAR intensity #24

Closed Oasis-Guo closed 4 years ago

Oasis-Guo commented 4 years ago

Hi, thanks for the research result. I manage to implement it at my self-driving, but the result did not meet my expectations. I think the reason is:

1: I am using 16 lidar from other vendor, not the 64 Velodyne Lidar

2: I am confused with the intensity value. Normally, it should be in 0~255. But I found that the 000000.bin example lies within <0.5 mostly. Could U explain a liite bit about it. I could not found the detail online.

Chen-Xieyuanli commented 4 years ago

Hey @Oasis-Guo,

Sorry for the late reply.

  1. Yes, currently the rangenet-lib only works with the KITTI dataset. For more possible applications of rangenet++ you may have a look at LiDAR-bonnetal.

  2. For intensity value, we follow the typical setup of the KITTI dataset. You may have a look at issue #23. Andres provided more detailed information about LiDAR intensity there.

Hope this helps!

Chen-Xieyuanli commented 4 years ago

Since this issue is quite similar to #23, I'm going to close this one.

Please feel free to ask me to reopen this one if needed.