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How to access Intensity from ROS PointCloud2 message?

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Rita Chattopadhyay
Rita Chattopadhyay on 26 Apr 2017
Answered: Will Nitsch on 1 May 2017
I am able to access xyz using readxyz function from ROS PointCloud2 message. How can I access Intensity and ring values?

Answers (1)

Will Nitsch
Will Nitsch on 1 May 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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