How to access Intensity from ROS PointCloud2 message?
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I am able to access xyz using readxyz function from ROS PointCloud2 message. How can I access Intensity and ring values?
1 件のコメント
Pasindu Ranasinghe
2024 年 1 月 23 日
% 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);
回答 (1 件)
Will Nitsch
2017 年 5 月 1 日
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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