What is the data type of intensity

[LuZhishan]

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I am using a rsbosense lidar which has xyzi in it pointcloud. The required data type for intensity here is float32 here . Meanwhile, the required data type for intensity is uint8 here. So What is the real data type of intensity?

[LuZhishan]

@knzo25 Could you help me with this problem?

[knzo25]

@LuZhishan
It used to be a float, but then it was decided that we would migrate into uint8.
The current design can be accessed here: https://autowarefoundation.github.io/autoware-documentation/main/design/autoware-architecture/sensing/data-types/point-cloud/

It this answers your question, please remember to close the issue 🙏

[LuZhishan]

If I change my intensity to uint8, It will not pass the data check

[knzo25]

Yes, but that is would be unrelated with the intensity. Probably is one of the other fields

[LuZhishan]

I am very certain that it is a matter of intensity.
My point cloud is xyzi. First, I check the data here, which requires the strength to be float32. Then, I check the data here, which requires uint8. As long as the data type is xyzi, it will definitely not pass this contradictory check.
Other point clouds such as xyzircaedt require the uint8 data type both before and after, which is the correct way

[knzo25]

Yes, and as explained in the link I sent you, we do not support XYZI (no matter if it is a uint8 or a float)

[LuZhishan]

Thanks, I get it!

[liuXinGangChina]

hi 你用的是 robosense的官方驱动吗？你可以check下config和lanunch 文件，可以设置点云输出格式
@LuZhishan