Retro-reflection Tracking

Retro-reflective Intensity

This option specifies the intensity at which the lidar points can be considered retro-reflective. A retro-reflective point is simply a point that is highly reflective. SENSR takes this value into consideration when marking objects as retro-reflective (if the option to enable retro-reflection is enabled in the common algorithm settings).

Similar to the intensity filtering, the correct value will be different for each lidar. Likewise, tune the value with the window in Setting > Advanced Feature > Retro-reflection Tracking.

How to Activate Retro-reflection Tracking

0. Open a window at Settings > Advanced Feature > Retro-reflection Tracking

1. Turn on Enable Retro-Reflection Tracking

2. Turn on Draw Retro-Reflective Objects, unless you will not be able to distinguish between general objects and retro-reflective objects. You can also change color at View > Preferences > Color

3. Input Retro-Reflective Intensity value to each sensor. The values are different by sensors, so tune the value during runtime to get the exact retro-reflective value of your sensor.

4. Click Apply

note

Don't forget to turn on Enable Retro-Reflection Tracking and Draw Retro-Reflective Objects to visualize retro-reflective objects. You can enable at the Settings > Advanced Features > Retro-reflection Tracking window as well as View > Preference > Visibility

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Appendix. Quick peek of Intensity Value by sensors

Those values are generated by SeoulRobotics as of June, 2022. We recommend to use those values as reference only.

For more exact values: please see here.

Manufacturer	LiDAR Name	Intensity Width	Retro-reflective Value
Velodyne	VLP16	0-255	230
Velodyne	VLP32	0-255	230
Hesai	XT-32	0-255	255
Ouster	OS1-32	2-7000	6200
Ouster	OS2-128	2-7000	2800
Luminar	Hydra	0-4095	2048 ~ 4095
Innovusion	Falcon	0-255	255
Blickfeld	Cube 1	3E-44 ~ 7E-42	6.31E-42