lidar intensity channel
Hi, thanks for the dataset; I have looked at the encoded lidar scans, I see that the draco mesh has both points and colors. The colors structure is array [N,3] with uint8 type. It does look like this colors structure encodes intensity/reflection of returned signals. Can you maybe share how to decode the scalar value?
Yes that's correct -- good eye! Intensity is simply colors[:, 0] (and for reference, colors[:, [1,2]] encodes a per-point timestamp offset from the spin reference timestamp); originally we were hoping to ship the encoding a bit more transparently/discoverably (see DracoPy#61) which may still happen, i.e., we may update all of the existing lidar data in place. As a one-user sample survey, can I ask whether you've already downloaded all of the lidar data and/or whether it would be a significant burden for you to re-download it if so?
thanks for clarification, nice that the timestamps can also be recovered.
I've downloaded all the data 🙂 , unless there is a significant improvement of the data I would rather avoid redownloading.