driving scenario designer的l​idar模型能不能导​出包含反射强度int​ensity的传感器​数据？

您好，我正在使用driving scenario designer创建一个简单的场景，使用场景中的点云作为使用自定义数据集训练pointpillars，但训练后发现点云并没有被pointpillars框选中，目前怀疑是intensity缺失的问题，我想问driving scenario designer中能不能导出lidar模型的包含反射强度intensity的传感器数据来训练pointpillars

Answer 1

[Satyam]

Hi Zhilong,

The LiDAR sensor used in Driving Scenario Designer exports data as a pointCloud containing only XYZ coordinates. The simulated sensor does not generate reflection intensity, so the Intensity field of the point cloud object remains empty (as seen in your screenshot). Therefore, LiDAR data exported from the app cannot directly include the intensity channel expected by some implementations of PointPillars.

You can address this by:

• Modifying the preprocessing pipeline so the network trains using only [x y z] features instead of [x y z intensity].
• Alternatively, adding a synthetic intensity value (for example a constant or range-based proxy) to the point cloud before training.

This behavior is consistent with the MATLAB lidarSensor simulation output described in the documentation: https://www.mathworks.com/help/lidar/ref/lidarsensor-system-object.html