点云的Remission与 Intensity

二者都是表征雷达数据的反射强度，但不同雷达厂商可能对该信息的处理方式不同。

参考SICK官网给出的名词解释：

Remission

Remission is a measurement of diffuse reflection on surfaces, expressed as a percentage. Remission indicates the proportion of the light that is diffusely reflected based on the proportion that would be reflected in a reference value (defined white). Thus, 100% remission does not mean that all of the light is reflected, but rather that exactly the same amount of light is reflected as in the defined white surface.

类似的特性在其他一些雷达厂商中被称为 intensity，例如velodyne,速腾聚创。
速腾在雷达手册里面的解释如下：