How can I add new properties to a pointcloud?

I want to add a new property to a pointcloud, which is not in the standard properties of pointcloud.

I've got a pointcloud with one color image, from where I extract the Color inforamtion, and one NIR image, from where I get a greyscale value for each point, and I want to have every point to have an additional Property called 'NIR' with this value.

I tried :

pointcloud=pointCloud(posxyz,'Intensity',intensityvalue,'NIR',nirvalue)

Matlab gives me the following error:

Error using pointCloud>validateAndParseInputs (line 818) 'NIR' is not a recognized parameter. For a list of valid name-value pair arguments, see the documentation for this function.

Error in pointCloud (line 142) [xyzPoints, C, nv, I] = validateAndParseInputs(varargin{:});

Answer 1

[Walter Roberson]

This is not possible using the Mathworks pointCloud objects; the permitted properties are shown at https://www.mathworks.com/help/vision/ref/pointcloud-class.html

[Nethtrick]

It would be very convenient for the pointCloud type to support additional fields which can defined in the PCD format. For example, many Lidars have a per-point timestamp field which is not available in pointCloud but nevertheless is critical for some processing algorithms. If these cannot be named properties, maybe they can be held in a struct of additional per-point properties? In the meantime I'll need to write or obtain a custom PCD file reader and define my own point cloud type, which of course is not ideal.