RS-LiDAR-32 User Manual
To calculate each point intensity, we need use the intensity value from MSOP packet and the values
from the calibrated reflectivity file. The calibrated reflectivity file can be found from the U disk (path:
configuration_data/curves.csv). The calculate code is suggested to refer to the function
calibrateIntensity( ) in rawdata.cc from RS-LiDAR-32 ROS package.
Note: 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. The mode 3 method directly uses the intensity output by the LiDAR, and the
conversion and calculation are done inside the LiDAR.
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