Hello Yan, You're right, the API for setting the lidar reflectivity of a material was not properly exposed to the user. Thanks for pointing that out. I fixed it and pushed the changes to the feature/sensor branch of the chrono repo ( https://github.com/projectchrono/chrono/tree/feature/sensor). It will be available in the main branch in a few days, you can use the feature/sensor branch in the meantime.
You can now use the *ChVisualMaterial::SetLidarIntensity(float)* function to set the lidar reflectivity/intensity of the material. I updated the demo_SEN_lidar.cpp <https://github.com/projectchrono/chrono/blob/41d6a3922d7d0ab03c52d278b11e0ec9c49ca762/src/demos/sensor/demo_SEN_lidar.cpp#L130> with an example of using that. Let me know if you have any further questions. Best, Nevindu M. Batagoda On Monday, August 26, 2024 at 3:03:43 AM UTC-5 Yan Dong wrote: > Hi, > > We also need to change the intensity of LiDAR scan. > > You mentioned, > "You can try adjusting the reflective intensity of the material to see if > you can get the desired result", > Which properties should I change? I did not find any properties about > "reflective" in material settings. > > Or any update for chrono codes? > > Thanks. > Yan > > 在2023年4月18日星期二 UTC+8 04:50:50<[email protected]> 写道： > >> Hello, >> >> Currently, the intensity values returned by a LiDAR beam are modeled >> using a Lambertian reflection model (used for diffuse reflections). The >> LiDAR model assumes all materials are 100% diffuse, hence the Kd >> coefficient is 1. The returned intensity is dependent on the Lidar >> intensity of the material in question and the ray-normal angle (Lambertian >> reflection). The LiDAR intensity of the material is defined as " material >> reflectivity in a LiDAR's wavelength", which is a value between 0-1. This >> property should be defined when setting up your materials. You can try >> adjusting the reflective intensity of the material to see if you can get >> the desired result. In the future, we will be working on improving the >> LiDAR model to support different types of reflections. I hope this answers >> your question. >> >> Best, >> Nevindu >> >> On Monday, April 17, 2023 at 1:28:42 PM UTC-5 [email protected] wrote: >> >>> Hi, >>> >>> >>> I'm looking for modelling the reflectivity of different materials >>> (water/rock) perceived through lidar. >>> >>> Its mentioned that the intensity values returned by lidar beams are >>> based on diffuse reflectance. (In lidar sensor model webpage). >>> >>> When I try to create different materials (.mtl) with different kd >>> parameters, still I don't find the lidar intensity returns affected by this. >>> >>> Kindly help me with how can I achieve what I'm looking for. >>> >>> -- You received this message because you are subscribed to the Google Groups "ProjectChrono" group. To unsubscribe from this group and stop receiving emails from it, send an email to [email protected]. To view this discussion on the web visit https://groups.google.com/d/msgid/projectchrono/4adcaff9-dd7e-41fa-b127-758e4dcee0a1n%40googlegroups.com.
