Image Generation

[osti3]

Hi,
I’m looking to better understand how the reflectivity and ambient images were generated from the point cloud data. Could you please clarify the following:
• What process or algorithm was used to extract or synthesize these images from the point cloud?
• Were these attributes directly captured by the sensor, or computed post-capture?
• If applicable, could you point me to the relevant part of the code or any supporting documentation?

Any insights would be greatly appreciated. Thanks in advance!

[tobybreckon]

These images originate from the sensor itself - Ouster OS-1 128 - https://ouster.com/insights/blog/introducing-the-os-1-128-lidar-sensor. " Output: range, intensity, reflectivity, ambient NIR, azimuth angle, time stamp" - https://levelfivesupplies.com/product/ouster-os1-128-lidar-sensor/.

See Section 3.3 of the following paper - DurLAR: A High-fidelity 128-channel LiDAR Dataset with Panoramic Ambient and Reflectivity Imagery for Multi-modal Autonomous Driving Applications (L. Li, K.N. Ismail, H.P.H. Shum, T.P. Breckon), In Proc. Int. Conf. on 3D Vision, IEEE, pp. 1227-1237, 2021.

All data is captured using the manufacturers ROS driver - https://github.com/ouster-lidar/ouster-ros.

Hope this helps.

[osti3]

Thank you for your quick answer!