Sense and perceive model intensities using ignition gazebo's GpuLidarSensor

Hi,

i want to use intensities to distinguish between different obstacles in the resulting point cloud. From the GPU source code [1] intensities seem to be supported, but for me it remains unclear, how the intensity values can be set for the different models (visuals?). I am using ignition-dome.

BR, Marc

[1] https://github.com/ignitionrobotics/ign-sensors/blob/ign-sensors4/src/GpuLidarSensor.cc

Asked by Illuminatur on 2021-01-24 12:31:43 UTC

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Answers

The work is being done in this pull request. Once it's merged in Citadel, we'll forward port it to Dome as well. You'll then be able to set laser_retro values for visuals and they will come out as intensity readings published by the GPU lidar sensor

Asked by iche033 on 2021-01-25 13:33:46 UTC

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Well, it seems that this pull request had been merged into Ignition Fortress. We just noticed that most probably only OGRE2 is supported in order to derive the retro values with a shader.

Is that correct?

Does this work within Ignition headless using EGL?

Asked by Illuminatur on 2021-12-22 02:07:05 UTC