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Sense and perceive model intensities using ignition gazebo's GpuLidarSensor

asked 2021-01-24 11:31:43 -0500

Illuminatur gravatar image


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


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answered 2021-01-25 12:33:46 -0500

iche033 gravatar image

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

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answered 2021-12-22 01:07:05 -0500

Illuminatur gravatar image

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?

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Asked: 2021-01-24 11:31:43 -0500

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Last updated: Dec 22 '21