RS-LiDAR-16 User Manual
configuration_data/curves.csv). The calculate code is suggested to refer to the function
calibrateIntensity( ) in rawdata.cc from RS-LiDAR-16 ROS package.
Note 1: Because of the firmware upgrade, the calculation of the intensity in the calibrateIntensity() function
has been adjusted for several times, and the new code is backward compatible with the earlier firmware.
There are three modes to calculate the reflectivity. The first two need to convert the intensity byte output by
the LiDAR to obtain the final result. V4.0 used mode 3 method directly uses the intensity output by the LiDAR,
and the conversion and calculation are done inside the LiDAR.
Note 2: For LiDAR produced after the date of 20.11.2018, for mode 3, LiDAR output directly the intensity of
reflectivity, calculation is accomplished inside of LiDAR.
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