From e2d8f7664d40361ad769c564c0744560a7b1cf59 Mon Sep 17 00:00:00 2001
From: ob-yalian <luotao2025@163.com>
Date: Mon, 8 Dec 2025 15:48:56 +0800
Subject: [PATCH] fix: update intensity to reflectivity in lidar point cloud
 publishing

---
 orbbec_camera/src/ob_lidar_node.cpp | 10 +++++-----
 1 file changed, 5 insertions(+), 5 deletions(-)

diff --git a/orbbec_camera/src/ob_lidar_node.cpp b/orbbec_camera/src/ob_lidar_node.cpp
index d76add59..3534761b 100644
--- a/orbbec_camera/src/ob_lidar_node.cpp
+++ b/orbbec_camera/src/ob_lidar_node.cpp
@@ -789,7 +789,7 @@ void OBLidarNode::publishPointCloud(std::shared_ptr<ob::FrameSet> frame_set) {
     *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_intensity = point_data[i].intensity;
+    *iter_intensity = point_data[i].reflectivity;
     *iter_tag = point_data[i].tag;
   }
   *point_cloud_msg = filterPointCloud(*point_cloud_msg);
@@ -833,7 +833,7 @@ void OBLidarNode::publishSpherePointCloud(std::shared_ptr<ob::FrameSet> frame_se
     *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_intensity = result_point[i].intensity;
+    *iter_intensity = result_point[i].reflectivity;
     *iter_tag = result_point[i].tag;
   }
   *point_cloud_msg = filterPointCloud(*point_cloud_msg);
@@ -914,7 +914,7 @@ void OBLidarNode::publishMergedPointCloud() {
       *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_intensity = point_data[i].intensity;
+      *iter_intensity = point_data[i].reflectivity;
       *iter_tag = point_data[i].tag;
 
       // Calculate per-point offset time in nanoseconds relative to point cloud header timestamp
@@ -1009,7 +1009,7 @@ void OBLidarNode::publishMergedSpherePointCloud() {
       *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_intensity = result_point[i].intensity;
+      *iter_intensity = result_point[i].reflectivity;
       *iter_tag = result_point[i].tag;
 
       // Calculate per-point offset time in nanoseconds relative to point cloud header timestamp
@@ -1057,7 +1057,7 @@ std::vector<OBLiDARPoint> OBLidarNode::spherePointToPoint(OBLiDARSpherePoint *sp
       point_data->x = x;
       point_data->y = y;
       point_data->z = z;
-      point_data->intensity = sphere_point->intensity;
+      point_data->reflectivity = sphere_point->reflectivity;
       point_data->tag = sphere_point->tag;
       ++point_data;
     }