How to load a PCD file converted using rosrun onto MATLAB?

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Richard Son
Richard Son 2022-1-9
I have a ROS Bag file that I have converted to PCD using rosrun bag_to_pcd. It generates a .PCD v0.7 - Point Cloud Data file format VERSION 0.7. However, If I try to load it onto the LiDAR Viewer using MATLAB, I get the following error:
Error occurred while reading file header. See the pcread reference page in documentation for correct header format.
If I attempt to directly load the ROS Bag file into MATLAB and save the generated pointcloud from LiDAR Viewer, the generated PCD does not include the other fields that are generated if I do a rosrun bag_to_pcd directly.
x y z _ intensity t reflectivity ring _ noise _ range _
Thank you for the help

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