Can I get custom FIELDS by PCD loader.

[ronny1020]

I'm using the PCDloader. In our format, there are four FIELDS, which is x y z intensity. However, I can't get the intensity fields. I can only get the POSITION attribute.

I think the current version of the PCD loader only handles position, normal, and color.

I understand it might not be a normal case. However, could it also return the other fields or just return the whole raw data with all fields?

The following is my header.

# .PCD v0.7 - Point Cloud Data file format
VERSION 0.7
FIELDS x y z intensity
SIZE 4 4 4 2
TYPE F F F U
COUNT 1 1 1 1
WIDTH 115384
HEIGHT 1
VIEWPOINT 0 0 0 1 0 0 0
POINTS 115384
DATA binary_compressed

Thanks a lot!