Fix normalization

PRBonn · Mar 26, 2024 · 9bc99f4 · 9bc99f4
1 parent 3d813b2
commit 9bc99f4
Showing 1 changed file with 1 addition and 1 deletion.
diff --git a/src/lidar_visualizer/datasets/helipr.py b/src/lidar_visualizer/datasets/helipr.py
@@ -146,7 +146,7 @@ def read_point_cloud(self, idx: int):
             )
             points = points_xyzi[:, 0:3]
             intensity = points_xyzi[:, -1]
-            intensity = intensity / intensity.max()
+            intensity = (intensity - intensity.min()) / (intensity.max() - intensity.min())
             colors = self.cmap(intensity)[:, :3].reshape(-1, 3)
             scan.points = self.o3d.utility.Vector3dVector(points)
             scan.colors = self.o3d.utility.Vector3dVector(colors)