Isaac RTX Lidar Intensity artefact appears to be messing with results (Isaac 5.1.0)

[jovian.habgood]

Hello!

I am trying out the new non visual materials system with an RTX Lidar the ouster OS1.
To test the nonvisual material system I have intensity enabled using the following carb settings:

-/app/sensors/nv/lidar/enableRtxReflectanceInformation=true
-/app/sensors/nv/lidar/enableAdditionalRtxReturnInformation=true
-/app/sensors/nv/lidar/enablePolarization=false
-/app/sensors/nv/materials/enableMaterialInterLayerContribution=false
-/rtx/materialDb/nonVisualMaterialCSV/enabled=false

I have tried a few materials but there are clear visual oddities such as this kind of tearing artefact that making results differ based of lidar rotation.
This is a 360 degree rotating lidar perhaps this artefact is supposed to be there?
It causes an odd and sharp change in intensity on either side of the artefact which is rather inconvenient.

Here is an image of the lidar result in RVIS of the “Wood “ nonvisual material applied to a default cylinder one image with the artefactIng and another with the lidar rotated slightly so the artefact cannot be seen on this particular cylinder (It just moves where the artefact occurs place by doing this).
Position of the lidar is exactly the same for each image only rotation is different.

Any thoughts are appreciated,
Thank you,
Jovian

[jovian.habgood]

Update (Solved):
This issue was actually due to a setting in RVIS2 when visualizing the pointcloud2 I had the “Auto compute intensity bounds“ this causes issues with lidars that rotate since after each frame the bounds would change resulting in a different colour appearance.