How to access Intensity from ROS PointCloud2 message?
11 visualizzazioni (ultimi 30 giorni)
Mostra commenti meno recenti
I am able to access xyz using readxyz function from ROS PointCloud2 message. How can I access Intensity and ring values?
1 Commento
Pasindu Ranasinghe
il 23 Gen 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);
Risposte (1)
Will Nitsch
il 1 Mag 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.
0 Commenti
Vedere anche
Categorie
Scopri di più su Publishers and Subscribers in Help Center e File Exchange
Community Treasure Hunt
Find the treasures in MATLAB Central and discover how the community can help you!
Start Hunting!