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Author: Admin | 2025-04-28
After processing by the internal system of the LiDAR, the echo receiving power is obtained. The receiver converts the receiving power into voltage and digitizes a certain integer value of the output. The range of the point cloud intensity information obtained by different scanners is different. For example, the range of point cloud intensity obtained by the Z + F 9012/5016 and Faro S/X series laser scanners can be exported to various intensity ranges such as [0, 1] or [0, 65, 525]. The original intensity range in the point cloud data is not suitable for human eyes to interpret the scene in the tunnel, especially the target, whereas [0, 255] is the pixel value range of common images, which is more acceptable to human eyes. Therefore, the point cloud intensity information cannot be directly used as a pixel value. After being input into the pixel matrix, grayscale quantization is required. The grayscale value obtained after grayscale quantization is used as the pixel value to generate the final tunnel lining preview image, as shown in Figure 7. Grayscale quantization is used to map the intensity range of the original point cloud to [0, 255] in a linear manner. The grayscale quantization formula is expressed as follows: G i = 255 × I i − I m i n I m a x − I m i n , (1) where I m a x is the maximum laser intensity, I m i n is the minimum laser intensity, I i is
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