How to acquire intensity and angle when using LiDAR?

[huangchunan]

Platform : CARLA 0.9.15
Question :
I am currently researching how to generate point cloud data using Carla. I attempted to acquire [x, y, z, intensity, angle].However, after reading the sensor reference section of the CARLA document, I found out that the semantic LiDAR output does not include intensity and the LiDAR output does not include angle.
Is there a way to acquire intensity and angle when using LiDAR?

Any answer is welcome!

[GoodarzMehr]

As defined here, the intensity value provided by CARLA's lidar sensor (which is more or less just a function of object distance) is different from the intensity value reported by a real-world lidar, which depends on the reflectance of objects hit by lidar beams and the incidence angle. A potential solution might be doing what's done in #3826 , or you can use the semantic lidar and try to approximate the intensity for each point based on its object class and incidence angle.