diff --git a/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/common/PointCloudDecoder.java b/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/common/PointCloudDecoder.java
index 8e677419df..b89934e255 100644
--- a/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/common/PointCloudDecoder.java
+++ b/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/common/PointCloudDecoder.java
@@ -9,14 +9,13 @@ import rule_segement.PointCloud;
  * 如果add_data 没有数据 新增数据大小用-1表示
  * 如果del_data 没有数据 删除数据大小用-2表示
  * 如果又不存在的数会使用0.0补位
- * 目前工控机所发送数据没用ID 所以默认用0代替
  */
 public class PointCloudDecoder {
     /**
      * add 和del 列表中 多少一个数据为一组
-     * 目前缺少id所以是4个
+     * 顺序是id，x,y,z,强度 5个
      */
-    private static final int NUMBER_OF_DATA = 4;
+    private static final int NUMBER_OF_DATA = 5;
 
     public static String decode(MessagePad.Header header, PointCloud.LidarPointCloud pointCloud) {
         StringBuilder builder = new StringBuilder();
@@ -70,7 +69,7 @@ public class PointCloudDecoder {
                 int temp = i * NUMBER_OF_DATA;
                 if (i < addSize) {
                     //目前没有id 默认插入0
-                    add.append(0).append(",");
+                    add.append(pointCloud.getAddData(temp++)).append(",");
                     add.append(pointCloud.getAddData(temp++)).append(",");
                     add.append(pointCloud.getAddData(temp++)).append(",");
                     add.append(pointCloud.getAddData(temp++)).append(",");
@@ -78,8 +77,7 @@ public class PointCloudDecoder {
                 }
                 if (i < delSize) {
                     temp = i * NUMBER_OF_DATA;
-                    //目前没有id 默认插入0
-                    del.append(0).append(",");
+                    del.append(pointCloud.getDelData(temp++)).append(",");
                     del.append(pointCloud.getDelData(temp++)).append(",");
                     del.append(pointCloud.getDelData(temp++)).append(",");
                     del.append(pointCloud.getDelData(temp++)).append(",");