Why not extract chessboard from intensity map directly?

[Yajiang]

Thanks for your contribution. I'm interested in Lidar-RGB calibration and I noticed your excellent work. One question about your 3D point extraction method, have you ever tried to extract 3D point from the intensity map and get its depth info from the depth map? I'm working on this now, if you have ever tried that, I'll preciate you sharing the result with me no matter it's good or not. Thanks.