# bag file to pcd with intensity

i tried converting a bagfile to pcd and i lose intensity. I used the following command:

rosrun pcl_ros bag_to_pcd <input_file.bag> velodyne_points <output_directory>


but the problem that i see that the pcd doesnt include any intensity! Also, my bag doesnt have its own intensity topic and it should be part of velodyne_points!

Thank you guys for the help! Ish

Edit: hi Peter, Yes, i tried my bag file on riviz and i have differrent intensity levels! BTW, this is a sample of what i see when i try to extract XYZ and Intensity:

-2.82807 -1.4466 15.9328 5
1.72946 -1.44844 16.0425 5
2.00508 -1.44379 15.9531 5
21.9425 -2.4291 16.1014 5
-1.42274 -1.45596 16.2038 5
-1.1376 -1.46018 16.2702 5
0.594295 -1.45904 16.261 5
0.878254 -1.45543 16.2028 5
1.16948 -1.45949 16.2271 5
1.44643 -1.451 16.1035 5
-3.52649 -1.50416 16.4772 5
-3.21789 -1.49722 16.4544 5
-0.850416 -1.46422 16.3297 5
-0.563342 -1.46565 16.3542 5
-0.275618 -1.46709 16.3738 5
0.0184521 -1.46435 16.3406 5
0.305599 -1.46195 16.3063 5
-5.29426 -1.60113 17.1892 5
-4.72884 -1.61665 17.5269 5
-8.7076 -1.8025 18.3791 5
-8.31028 -1.95556 20.4501 5
14.0158 -2.25649 -40.7173 6
13.8927 -2.17166 -39.0455 6
13.1812 -1.69881 -29.6215 6
8.38311 -1.5031 -27.4282 6
12.9421 -1.54708 -26.5399 6
12.8191 -1.4799 -25.1694 6
12.6505 -1.36753 -22.8321 6
-15.0315 -1.33794 -20.7 6


the intensity coordinates (last coordinate) increment in an orderly fashion. I dont believe this is correct!

Thanks,

edit retag close merge delete

If those values are incrementing in a regular pattern then I suspect they are velodyne ring numbers not intensity values. How many channels of extra information do you see in RVIZ when you view the pointclouds there? It's likely that a non-standard point format is being used that is not compatible with pcl_ros bag_to_pcd