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Point cloud Data analysis from ROS bag - Info required.

I am asking for information on how to proceed. I am fairly new to ROS environment.

I have ROS bag recorded data with point cloud topics (x,y,z,velocity,intensity). I have to perform analysis on this data.

  • First I have to extract Only the point cloud topics from Rosbag. Any suggestions on how to achieve this ?

  • Second take the extracted point cloud topics and be able to either plot or graph (x,y,z,velocity,intensity). Any suggestion on which software/language/platform is best to achieve this. ?

Appreciate all the help I can get here.