How to access Intensity from ROS PointCloud2 message?

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Rita Chattopadhyay 2017-4-26

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此问题的直接链接

https://ww2.mathworks.cn/matlabcentral/answers/337496-how-to-access-intensity-from-ros-pointcloud2-message

评论： Pasindu Ranasinghe 2024-1-23

I am able to access xyz using readxyz function from ROS PointCloud2 message. How can I access Intensity and ring values?

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Pasindu Ranasinghe 2024-1-23

在 MATLAB Online 中打开

% 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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Answer 1

Will Nitsch 2017-5-1

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此回答的直接链接

https://ww2.mathworks.cn/matlabcentral/answers/337496-how-to-access-intensity-from-ros-pointcloud2-message#answer_265223

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.