Realistic Carla Lidar Intensity

[MtGuerenS]

Problem

The Carla Simulator does not return realistic intensity values. This is a problem if we would like to use Carla's lidar data to test features that depend on intensity, such as detecting objects with lidar. Another small issue is that the number of points per second from Carla's lidar is 50,000, while our equipment gathers around 4 times that (can be fixed with Carla settings).

Links

Here are some helpful links for fixing the intensity:

• Carla Simulator GitHub Issue
• Research Paper with Code