This is a fiducial marker system designed for LiDAR sensors. Different visual fiducial marker systems (Apriltag, ArUco, CCTag, etc.) can be easily embedded. The usage is as convenient as that of the visual fiducial marker. The system shows potential in SLAM, multi-sensor calibration, augmented reality, and so on.
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how to use the intensity of point cloud for rendering image #4
In your code, you use the intensity of point cloud to render image：
valid_cloud_i.points[p].x = (points[p][3] != 0) ? points[p][0] points[p][3] : points[p][0];
valid_cloud_i.points[p].y = (points[p][3] != 0) ? points[p][1] points[p][3] : points[p][1];
valid_cloud_i.points[p].z = (points[p][3] != 0) ? points[p][2] * points[p][3] : points[p][2];
How did this expression come from？
In your code, you use the intensity of point cloud to render image： valid_cloud_i.points[p].x = (points[p][3] != 0) ? points[p][0] points[p][3] : points[p][0]; valid_cloud_i.points[p].y = (points[p][3] != 0) ? points[p][1] points[p][3] : points[p][1]; valid_cloud_i.points[p].z = (points[p][3] != 0) ? points[p][2] * points[p][3] : points[p][2]; How did this expression come from？