Request for LiDAR intensity fields in Pixel Accurate Depth Benchmark

[sorodo]

Dear Prof.Gruber,

I am a doctoral researcher working on simulation of adverse-weather (fog) in automotive sensors (images + LiDAR point cloud).

I have been using the publicly-available Pixel Accurate Depth Benchmark dataset (by the DENSE project) to evaluate my fog simulation results. I greatly appreciate the dataset and the varied weather conditions captured.

In order to improve the realism of my LiDAR-based fog simulation (including backscatter, attenuation, reflectance modeling), I would like to ask whether the dataset includes the raw LiDAR point clouds with per-point intensity or reflectance values (in addition to the projected depth maps). Having reflectance/intensity data would enable me to more accurately simulate fog conditions and quantitatively validate my approach vs real fog recordings.

Specifically:

Do the original HDL-64 scans include intensity/reflectance fields?

If so, are they included in the dataset release or could they be made available for research?

Thank you very much for any help.

Best regards,