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intensity mode in urg_node while using hokuyo sensor

asked 2015-04-29 18:15:17 -0500

Naman gravatar image

Hi all,

I am using urg_node to get laser scans from the hokuyo sensor and I was wondering what exactly is the intensity mode and what happens if intensity mode is switched on?

Thanks.
Naman

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answered 2015-04-30 01:54:47 -0500

In intensity mode, the intensity of laser returns is also read out and written to the "intensities" field of the LaserScan message. So for every scan point you also get a measure of how much IR light has been reflected. You can think of it as the LIDAR returning a 1D image (as opposed to the 2D intensity grid for a monochrome camera). In fact, multiple scans with intensity data can be used to generate an image that looks similar to a normal camera image (just in the IR range). The Calibrating the PR2 tutorial page has a few example of images generated using the PR2´s tilting LIDAR.

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Thanks Stefan!

Naman gravatar imageNaman ( 2015-04-30 09:32:35 -0500 )edit

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Asked: 2015-04-29 18:15:17 -0500

Seen: 440 times

Last updated: Apr 30 '15