About Ouster remission/intensity visualization

[mgrova]

hello,

first of all, thank you very much for this excellent tool!!!

I would like to ask a question regarding the representation of the remission (or intensity) field in the viewer. I am trying to label the scans of an Ouster OS1, where the intensity value can range from 0 to 3000 in practice. However, although in other viewers like rviz I see perfectly the zones with higher intensity, in the point_labeler viewer, even if I activate the remission option, regardless of the color map I see everything in a constant color.

Is there a specific range in which the intensity value must be found to be displayed correctly?

Thanks in advance!!

Bests, Marco.

[jbehley]

I assume a range of [0,1]. That explains the behaviour. (since I clamp all values to the range [0,1], one losses all values above 1.

[mgrova]

Dear @jbehley,

thank you very much for your quick response!

Now it makes sense! Do you think it is better to normalize the intensity values of each scan between 0 and 1 taking as maximum the maximum intensity value of each scan or normalize taking as maximum the maximum intensity value that the sensor can generate? In the case of taking as maximum the maximum value of the sensor, the problem I see is that most of the points will have a very low or even negligible intensity value. How do you normalize the intensity values semantic-kitti?

Thank you very much again!