Intensity values in undistortet pointcloud are incorrect
tiesus opened this issue · 0 comments
tiesus commented
The Intensity values in the pointcloud, published by the livox_repub.cpp node are incorrect.
Due to this line you use the line number to compute the intensity:
float s = livox_msg->points[i].offset_time / (float)time_end; pt.intensity = livox_msg->points[i].line + s*0.1; // The integer part is line number and the decimal part is timestamp
https://github.com/Livox-SDK/livox_cloud_undistortion/blob/d4df84681c075f5d2d5a9c677bef54c9a4a5d33e/src/livox_repub.cpp#L26C7-L26C125
Why not just using the curverture field?