How to access Intensity from ROS PointCloud2 message?

I am able to access xyz using readxyz function from ROS PointCloud2 message. How can I access Intensity and ring values?

[Pasindu Ranasinghe]

% Visualize point cloud data for PointCloud2 messages
Point_to_display=34;
Data_Range=1:200;
bSel = select(bag,'Topic','/livox/lidar');
msgStructs = readMessages(bSel,Data_Range,'DataFormat','struct');

intensities=msgStructs{Point_to_display}

%intensities=msgStructs{Point_to_display}.readFile('intensity')
pc2msg=msgStructs{Point_to_display};
intensities=rosReadField(pc2msg,'intensity');

pcobj = pointCloud(rosReadXYZ(msgStructs{Point_to_display}),"Intensity",intensities);
viewer = pcviewer(pcobj);

Answer 1

[Will Nitsch]

With PointCloud2 objects you should be able to get the intensity values using 'readRGB': https://www.mathworks.com/help/robotics/ref/readrgb.html

Here is the documentation on 'PointCloud2' objects: https://www.mathworks.com/help/robotics/ref/pointcloud2-object.html

I wasn't able to find any mention of a 'ring' parameter in that documentation, perhaps it is described differently? Explore the different object properties of that object class.