How to access Intensity from ROS PointCloud2 message?

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Rita Chattopadhyay
Rita Chattopadhyay le 26 Avr 2017
I am able to access xyz using readxyz function from ROS PointCloud2 message. How can I access Intensity and ring values?
  1 commentaire
Pasindu Ranasinghe
Pasindu Ranasinghe le 23 Jan 2024
% Visualize point cloud data for PointCloud2 messages
Point_to_display=34;
Data_Range=1:200;
bSel = select(bag,'Topic','/livox/lidar');
msgStructs = readMessages(bSel,Data_Range,'DataFormat','struct');
intensities=msgStructs{Point_to_display}
%intensities=msgStructs{Point_to_display}.readFile('intensity')
pc2msg=msgStructs{Point_to_display};
intensities=rosReadField(pc2msg,'intensity');
pcobj = pointCloud(rosReadXYZ(msgStructs{Point_to_display}),"Intensity",intensities);
viewer = pcviewer(pcobj);

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Réponses (1)

Will Nitsch
Will Nitsch le 1 Mai 2017
With PointCloud2 objects you should be able to get the intensity values using 'readRGB': https://www.mathworks.com/help/robotics/ref/readrgb.html
Here is the documentation on 'PointCloud2' objects: https://www.mathworks.com/help/robotics/ref/pointcloud2-object.html
I wasn't able to find any mention of a 'ring' parameter in that documentation, perhaps it is described differently? Explore the different object properties of that object class.

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