Intensity values in PointCloud2 topics are zero.

Question

Intensity values in PointCloud2 topics are zero.

Osal22 opened this issue a year ago · 3 comments

Osal22 commented a year ago

Ubuntu= 22.04
AWSIM= 1.2.0
ROS= Humble

topic names I tested published by AWSIM:

/sensing/lidar/top/pointcloud_raw
/sensing/lidar/top/pointcloud_raw_ex

I can not see intensity values other than zero.

Answer 1 · 2024-02-14T14:46:08.000Z

@Osal22

The feature of simulating intensity in AWSIM is supported, however it requires the materials in the 3D model to have the information about intensity. In the Nishinjuku environment used in release 1.2.0 it's not included for now.

While intensity is not critical for Autoware's algorithms, it's not the highest priority now to add this information into the Nishinjuku 3D model.

Answer 2 · 2024-02-14T15:42:28.000Z

Thank you! got it.

Answer 3 · 2024-02-20T16:11:56.000Z

@WJaworskiRobotec

@Osal22

The feature of simulating intensity in AWSIM is supported, however it requires the materials in the 3D model to have the information about intensity. In the Nishinjuku environment used in release 1.2.0 it's not included for now.

While intensity is not critical for Autoware's algorithms, it's not the highest priority now to add this information into the Nishinjuku 3D model.

Hi, can you share how to configure a 3d model to have intensity information?
Thanks