problem with intensity field when converting to PointXYZI ascii pcd

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problem with intensity field when converting to PointXYZI ascii pcd

Brian Robinson

I imagine this will be an easy one for you guys, but I just can’t seem to figure it out. I have written a simple program to convert raw .txt data to ascii .pcd format. It writes the following header and data, including the intensity as a float value between 0 and 1. (I’ve tried using an 8-bit value for intensity as well).


# .PCD v.7 Point Cloud Data file format

VERSION .7

FIELDS x y z i

SIZE 4 4 4 4

TYPE F F F F

COUNT 1 1 1 1

WIDTH 1812135

HEIGHT 1

VIEWPOINT 0 0 0 1 0 0 0

POINTS 1812135

DATA ascii

-189.55 3770.55 -1600.35 0.392157

-207.45 4003.66 -1597.65 0.392157

-238.07 3868.24 -1599.48 0.454902

...


When I try to read the file using the pcd reader, I get the error:


“Failed to find match for field 'intensity'.”


And the intensity values are set to zero in the .pcd file thusly:


-189.55 3770.55 -1600.35 0

-207.45 4003.66 -1597.65 0

-238.07 3868.24 -1599.48 0


Many thanks in advance.


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Re: problem with intensity field when converting to PointXYZI ascii pcd

Sérgio Agostinho
I think the field name should be called “intensity” and not “i” as you’re declaring in your constructed PCD file.

Cheers


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Re: problem with intensity field when converting to PointXYZI ascii pcd

Brian Robinson
Haha!

That solved it.

I really appreciate it, sir.

B



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