why intensity value is alway zero

RoboSense-LiDAR / ros_rslidar

ROS drvier for RS-LiDAR-16 and RS-LiDAR-32

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why intensity value is alway zero #13

Open planckwu opened 5 years ago

planckwu commented 5 years ago

I got a robosense 16-e lidar, but found that the intensity value is alway zero in the pointcloud2 outputed by rslidar_pointcloud

bryanibit commented 5 years ago

Because the function has uncorrect transformation of intensity in file rawdata.cc:

float RawData::calibrateIntensity(float intensity, int calIdx, int distance)

The above function will return zero always whatever the intensity is!

Tony-HIT commented 5 years ago

It seems you use the wrong calibration file or intensity mode. Have you already solved the problem from robosense technical support.

bryanibit commented 5 years ago

I solved it via uncommenting calibrateIntensity function. I don't think I used wrong calibration file. And how and where to change intensity mode?