Hi Thanks for your reply. Many thanks. 在2024年8月27日星期二 UTC+8 07:18:35<[email protected]> 写道：
> 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/daa40124-2563-444b-92e4-384c0c4f481an%40googlegroups.com.
