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Refactor: rename reflectivity to intensity in LiDAR point cloud data

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- Update LiDAR point structure definitions in ObTypes.h
- Rename reflectivity field to intensity in OBLiDARPoint and OBLiDARSpherePoint structures
- Update point cloud field names and iterators in ob_lidar_node.cpp
- Modify Chinese documentation to reflect the terminology change
- Ensure consistency across all LiDAR data publishing methods

This change aligns the codebase with standard LiDAR terminology where
'intensity' is the commonly used term for describing the strength of
the laser return signal.
This commit is contained in:
xiexun
2025-08-05 11:21:56 +08:00
parent 60793ced02
commit af8606729f
3 changed files with 16 additions and 16 deletions
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orbbec_camera/src/ob_lidar_node.cpp
+13 -13
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@@ -796,7 +796,7 @@ void OBLidarNode::publishScanToPoint(std::shared_ptr<ob::FrameSet> frame_set) {
sensor_msgs::PointCloud2Modifier modifier(*point_cloud_msg);
modifier.setPointCloud2Fields(4, "x", 1, sensor_msgs::msg::PointField::FLOAT32, "y", 1,
sensor_msgs::msg::PointField::FLOAT32, "z", 1,
sensor_msgs::msg::PointField::FLOAT32, "reflectivity", 1,
sensor_msgs::msg::PointField::FLOAT32, "intensity", 1,
sensor_msgs::msg::PointField::UINT8);
modifier.resize(scan_count);
auto frame_timestamp = getFrameTimestampUs(lidar_frame);
@@ -812,13 +812,13 @@ void OBLidarNode::publishScanToPoint(std::shared_ptr<ob::FrameSet> frame_set) {
sensor_msgs::PointCloud2Iterator<float> iter_x(*point_cloud_msg, "x");
sensor_msgs::PointCloud2Iterator<float> iter_y(*point_cloud_msg, "y");
sensor_msgs::PointCloud2Iterator<float> iter_z(*point_cloud_msg, "z");
sensor_msgs::PointCloud2Iterator<uint8_t> iter_reflectivity(*point_cloud_msg, "reflectivity");
for (size_t i = 0; i < scan_count; ++i, ++iter_x, ++iter_y, ++iter_z, ++iter_reflectivity) {
sensor_msgs::PointCloud2Iterator<uint8_t> iter_intensity(*point_cloud_msg, "intensity");
for (size_t i = 0; i < scan_count; ++i, ++iter_x, ++iter_y, ++iter_z, ++iter_intensity) {
double rad = 0.7853981852531433 + angle_increment_ * i;
*iter_x = static_cast<float>(scans_data[i].distance * cos(rad) / 1000.0);
*iter_y = static_cast<float>(scans_data[i].distance * sin(rad) / 1000.0);
*iter_z = static_cast<float>(0.0);
*iter_reflectivity = static_cast<uint8_t>(scans_data[i].intensity);
*iter_intensity = static_cast<uint8_t>(scans_data[i].intensity);
}
*point_cloud_msg = filterPointCloud(*point_cloud_msg);
point_cloud_pub_->publish(std::move(point_cloud_msg));
@@ -838,7 +838,7 @@ void OBLidarNode::publishPointCloud(std::shared_ptr<ob::FrameSet> frame_set) {
sensor_msgs::PointCloud2Modifier modifier(*point_cloud_msg);
modifier.setPointCloud2Fields(5, "x", 1, sensor_msgs::msg::PointField::FLOAT32, "y", 1,
sensor_msgs::msg::PointField::FLOAT32, "z", 1,
sensor_msgs::msg::PointField::FLOAT32, "reflectivity", 1,
sensor_msgs::msg::PointField::FLOAT32, "intensity", 1,
sensor_msgs::msg::PointField::UINT8, "tag", 1,
sensor_msgs::msg::PointField::UINT8);
modifier.resize(point_count);
@@ -853,14 +853,14 @@ void OBLidarNode::publishPointCloud(std::shared_ptr<ob::FrameSet> frame_set) {
sensor_msgs::PointCloud2Iterator<float> iter_x(*point_cloud_msg, "x");
sensor_msgs::PointCloud2Iterator<float> iter_y(*point_cloud_msg, "y");
sensor_msgs::PointCloud2Iterator<float> iter_z(*point_cloud_msg, "z");
sensor_msgs::PointCloud2Iterator<uint8_t> iter_reflectivity(*point_cloud_msg, "reflectivity");
sensor_msgs::PointCloud2Iterator<uint8_t> iter_intensity(*point_cloud_msg, "intensity");
sensor_msgs::PointCloud2Iterator<uint8_t> iter_tag(*point_cloud_msg, "tag");
for (size_t i = 0; i < point_count;
++i, ++iter_x, ++iter_y, ++iter_z, ++iter_reflectivity, ++iter_tag) {
++i, ++iter_x, ++iter_y, ++iter_z, ++iter_intensity, ++iter_tag) {
*iter_x = static_cast<float>(point_data[i].x / 1000.0);
*iter_y = static_cast<float>(point_data[i].y / -1000.0);
*iter_z = static_cast<float>(point_data[i].z / 1000.0);
*iter_reflectivity = point_data[i].reflectivity;
*iter_intensity = point_data[i].intensity;
*iter_tag = point_data[i].tag;
}
*point_cloud_msg = filterPointCloud(*point_cloud_msg);
@@ -882,7 +882,7 @@ void OBLidarNode::publishSpherePointCloud(std::shared_ptr<ob::FrameSet> frame_se
sensor_msgs::PointCloud2Modifier modifier(*point_cloud_msg);
modifier.setPointCloud2Fields(5, "x", 1, sensor_msgs::msg::PointField::FLOAT32, "y", 1,
sensor_msgs::msg::PointField::FLOAT32, "z", 1,
sensor_msgs::msg::PointField::FLOAT32, "reflectivity", 1,
sensor_msgs::msg::PointField::FLOAT32, "intensity", 1,
sensor_msgs::msg::PointField::UINT8, "tag", 1,
sensor_msgs::msg::PointField::UINT8);
modifier.resize(point_count);
@@ -897,14 +897,14 @@ void OBLidarNode::publishSpherePointCloud(std::shared_ptr<ob::FrameSet> frame_se
sensor_msgs::PointCloud2Iterator<float> iter_x(*point_cloud_msg, "x");
sensor_msgs::PointCloud2Iterator<float> iter_y(*point_cloud_msg, "y");
sensor_msgs::PointCloud2Iterator<float> iter_z(*point_cloud_msg, "z");
sensor_msgs::PointCloud2Iterator<uint8_t> iter_reflectivity(*point_cloud_msg, "reflectivity");
sensor_msgs::PointCloud2Iterator<uint8_t> iter_intensity(*point_cloud_msg, "intensity");
sensor_msgs::PointCloud2Iterator<uint8_t> iter_tag(*point_cloud_msg, "tag");
for (size_t i = 0; i < point_count;
++i, ++iter_x, ++iter_y, ++iter_z, ++iter_reflectivity, ++iter_tag) {
++i, ++iter_x, ++iter_y, ++iter_z, ++iter_intensity, ++iter_tag) {
*iter_x = static_cast<float>(result_point[i].x / 1000.0);
*iter_y = static_cast<float>(result_point[i].y / -1000.0);
*iter_z = static_cast<float>(result_point[i].z / 1000.0);
*iter_reflectivity = result_point[i].reflectivity;
*iter_intensity = result_point[i].intensity;
*iter_tag = result_point[i].tag;
}
*point_cloud_msg = filterPointCloud(*point_cloud_msg);
@@ -942,7 +942,7 @@ std::vector<OBLiDARPoint> OBLidarNode::spherePointToPoint(OBLiDARSpherePoint *sp
point_data->x = x;
point_data->y = y;
point_data->z = z;
point_data->reflectivity = sphere_point->reflectivity;
point_data->intensity = sphere_point->intensity;
point_data->tag = sphere_point->tag;
++point_data;
}