# How to fuse a rosbag's intensity into a PCD in Autoware

When I try to map using rosbag, I want to be able to fuse intensity from LiDAR into a PCD so that I can recognize traffic lane lines of a PCD according to intensity. In RViz, I could see intensity with different colors. But I couldn't find intensity in a PCD.

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By default you should have intensity information in PCD if you create map using ndt_mapping from rosbag. What do you mean by In RViz, I could see intensity with different colors. But I couldn't find intensity in a PCD.? If you can see intensity in Rviz, that means you have intensity in PCD file.