Lidar intensity file geenrated not clear

[ashwinjoseph95]

Hi Team,
I was trying to run targetless calibration on a custom rosbag collected having velodyne VLP32 and zed2i stereo camera inputs. After running the preprocessing by specifying the input parameters for camera intrinsics (the one I got from the manufacturer), I got few intensity files for each rosbag. The outputs does not look very acceptable and I believe this can impack perfroamnce in hte later stages. Any suggestions as to why this might be happening?

the rgb image looks like:

I had manually cleaned the pointclouds by filtering points out side the FOV set by me. I tried visualizing hte pointclouds generated on rviz and its dense.

[VeeranjaneyuluToka]

@ashwinjoseph95 , I believe you might have followed the data collection procedure mentioned in docs.

Basically,

• The sensors should be stand still initially and then should be moved up and down.
• Try using "Dynamic integrator" in preprocessing.
• Check the initial guess automatic correspondences
  If the correspondences looks wrong, then i would suggest to use the manual approach as the intensity image is not being used in manual approach.

Hope that helps!