diff --git a/Docs/ref_sensors.md b/Docs/ref_sensors.md
index c8143bbe1..efb0494c5 100644
--- a/Docs/ref_sensors.md
+++ b/Docs/ref_sensors.md
@@ -537,7 +537,7 @@ The rotation of the LIDAR can be tuned to cover a specific angle on every simula
 <td><code>atmosphere_attenuation_rate</code></td>
 <td>float</td>
 <td>0.004</td>
-<td>Coefficient that measures the lidar instensity loss per meter. Check the  intensity computation above.</td>
+<td>Coefficient that measures the lidar instensity loss per meter. Check the intensity computation above.</td>
 <tr>
 <td><code>dropoff_general_rate</code></td>
 <td>float</td>
diff --git a/LibCarla/source/carla/sensor/s11n/LidarMeasurement.h b/LibCarla/source/carla/sensor/s11n/LidarMeasurement.h
index 09abfcda1..d5354a9a2 100644
--- a/LibCarla/source/carla/sensor/s11n/LidarMeasurement.h
+++ b/LibCarla/source/carla/sensor/s11n/LidarMeasurement.h
@@ -111,11 +111,11 @@ namespace s11n {
 
       for (auto idxChannel = 0u; idxChannel < GetChannelCount(); ++idxChannel) {
         _header[Index::SIZE + idxChannel] = static_cast<uint32_t>(_aux_points.size());
-        for (auto& Pt : _aux_points[idxChannel]) {
-          _points.emplace_back(Pt.x);
-          _points.emplace_back(Pt.y);
-          _points.emplace_back(Pt.z);
-          _points.emplace_back(Pt.intensity);
+        for (auto& pt : _aux_points[idxChannel]) {
+          _points.emplace_back(pt.x);
+          _points.emplace_back(pt.y);
+          _points.emplace_back(pt.z);
+          _points.emplace_back(pt.intensity);
         }
       }
 
diff --git a/PythonAPI/examples/automatic_control.py b/PythonAPI/examples/automatic_control.py
index ac3ea6c91..8bba8395e 100755
--- a/PythonAPI/examples/automatic_control.py
+++ b/PythonAPI/examples/automatic_control.py
@@ -640,7 +640,7 @@ class CameraManager(object):
             return
         if self.sensors[self.index][0].startswith('sensor.lidar'):
             points = np.frombuffer(image.raw_data, dtype=np.dtype('f4'))
-            points = np.reshape(points, (int(points.shape[0] / 3), 3))
+            points = np.reshape(points, (int(points.shape[0] / 4), 4))
             lidar_data = np.array(points[:, :2])
             lidar_data *= min(self.hud.dim) / 100.0
             lidar_data += (0.5 * self.hud.dim[0], 0.5 * self.hud.dim[1])
diff --git a/PythonAPI/examples/manual_control_rss.py b/PythonAPI/examples/manual_control_rss.py
index 3c8b2632d..ce0f0c68c 100755
--- a/PythonAPI/examples/manual_control_rss.py
+++ b/PythonAPI/examples/manual_control_rss.py
@@ -960,7 +960,7 @@ class CameraManager(object):
             return
         if self.sensors[self.index][0].startswith('sensor.lidar'):
             points = np.frombuffer(image.raw_data, dtype=np.dtype('f4'))
-            points = np.reshape(points, (int(points.shape[0] / 3), 3))
+            points = np.reshape(points, (int(points.shape[0] / 4), 4))
             lidar_data = np.array(points[:, :2])
             lidar_data *= min(self.hud.dim) / 100.0
             lidar_data += (0.5 * self.hud.dim[0], 0.5 * self.hud.dim[1])
diff --git a/PythonAPI/examples/manual_control_steeringwheel.py b/PythonAPI/examples/manual_control_steeringwheel.py
index 8ac241728..7c98d3bb2 100755
--- a/PythonAPI/examples/manual_control_steeringwheel.py
+++ b/PythonAPI/examples/manual_control_steeringwheel.py
@@ -741,7 +741,7 @@ class CameraManager(object):
             return
         if self.sensors[self.index][0].startswith('sensor.lidar'):
             points = np.frombuffer(image.raw_data, dtype=np.dtype('f4'))
-            points = np.reshape(points, (int(points.shape[0] / 3), 3))
+            points = np.reshape(points, (int(points.shape[0] / 4), 4))
             lidar_data = np.array(points[:, :2])
             lidar_data *= min(self.hud.dim) / 100.0
             lidar_data += (0.5 * self.hud.dim[0], 0.5 * self.hud.dim[1])
diff --git a/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Sensor/LidarDescription.h b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Sensor/LidarDescription.h
index 0fd0e5422..10ff9d849 100644
--- a/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Sensor/LidarDescription.h
+++ b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Sensor/LidarDescription.h
@@ -55,8 +55,6 @@ struct CARLA_API FLidarDescription
   UPROPERTY(EditAnywhere)
   float DropOffAtZeroIntensity = 0.4f;
 
-
-
   /// Wether to show debug points of laser hits in simulator.
   UPROPERTY(EditAnywhere)
   bool ShowDebugPoints = false;
diff --git a/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Sensor/RayCastLidar.cpp b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Sensor/RayCastLidar.cpp
index 2dc82fe03..fdaf161e4 100644
--- a/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Sensor/RayCastLidar.cpp
+++ b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Sensor/RayCastLidar.cpp
@@ -134,7 +134,8 @@ void ARayCastLidar::ReadPoints(const float DeltaTime)
 float ARayCastLidar::ComputeIntensity(const FVector &LidarBodyLoc, const FHitResult& HitInfo) const
 {
   const FVector HitPoint = HitInfo.ImpactPoint - LidarBodyLoc;
-  const float Distance = 0.01f * HitPoint.Size();
+  constexpr float TO_METERS = 1e-2;
+  const float Distance = TO_METERS * HitPoint.Size();
 
   const float AttenAtm = Description.AtmospAttenRate;
   const float AbsAtm = exp(-AttenAtm * Distance);
@@ -146,7 +147,6 @@ float ARayCastLidar::ComputeIntensity(const FVector &LidarBodyLoc, const FHitRes
 
 bool ARayCastLidar::ShootLaser(const uint32 Channel, const float HorizontalAngle, FVector &XYZ, float &Intensity) const
 {
-
   if(DropOffGenActive && RandomEngine->GetUniformFloat() < Description.DropOffGenRate)
     return false;
 
@@ -178,7 +178,6 @@ bool ARayCastLidar::ShootLaser(const uint32 Channel, const float HorizontalAngle
     FCollisionResponseParams::DefaultResponseParam
   );
 
-
   if (HitInfo.bBlockingHit)
   {
     if (Description.ShowDebugPoints)
@@ -198,8 +197,6 @@ bool ARayCastLidar::ShootLaser(const uint32 Channel, const float HorizontalAngle
 
     Intensity = ComputeIntensity(LidarBodyLoc, HitInfo);
 
-
-
     if(Intensity > Description.DropOffIntensityLimit)
       return true;
     else
diff --git a/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Sensor/RayCastLidar.h b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Sensor/RayCastLidar.h
index 3819f002d..7a3a81c96 100644
--- a/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Sensor/RayCastLidar.h
+++ b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Sensor/RayCastLidar.h
@@ -60,14 +60,14 @@ private:
 
   FLidarMeasurement LidarMeasurement;
 
-  // Enable/Disable general dropoff of lidar points
+  /// Enable/Disable general dropoff of lidar points
   bool DropOffGenActive;
 
-  // Slope for the intensity dropoff of lidar points, it is calculated
-  // throught the dropoff limit and the dropoff at zero intensity
-  // The points is kept with a probality alpha*Intensity + beta where
-  // alpha = (1 - dropoff_zero_intensity) / droppoff_limit
-  // beta = (1 - dropoff_zero_intensity)
+  /// Slope for the intensity dropoff of lidar points, it is calculated
+  /// throught the dropoff limit and the dropoff at zero intensity
+  /// The points is kept with a probality alpha*Intensity + beta where
+  /// alpha = (1 - dropoff_zero_intensity) / droppoff_limit
+  /// beta = (1 - dropoff_zero_intensity)
   float DropOffAlpha;
   float DropOffBeta;
 };