make error on intensity

[yoshiyama]

The error on "intensity" as below has happened.
Let me know how to solve it.

survey@SURVEY-C20:/mnt/c/GitHub/las2pcd$ make
Scanning dependencies of target las2pcd
[ 50%] Building CXX object CMakeFiles/las2pcd.dir/las2pcd.cpp.o
/mnt/c/GitHub/las2pcd/las2pcd.cpp: In function ‘int main(int, char**)’:
/mnt/c/GitHub/las2pcd/las2pcd.cpp:71:19: error: ‘__gnu_cxx::__alloc_traits<Eigen::aligned_allocatorpcl::PointXYZRGB >::value_type {aka struct pcl::PointXYZRGB}’ has no member named ‘intensity’
cloud.points[i].intensity = (reader.GetPoint().GetIntensity());
^~~~~~~~~
CMakeFiles/las2pcd.dir/build.make:62: recipe for target 'CMakeFiles/las2pcd.dir/las2pcd.cpp.o' failed
make[2]: *** [CMakeFiles/las2pcd.dir/las2pcd.cpp.o] Error 1
CMakeFiles/Makefile2:67: recipe for target 'CMakeFiles/las2pcd.dir/all' failed
make[1]: *** [CMakeFiles/las2pcd.dir/all] Error 2
Makefile:83: recipe for target 'all' failed
make: *** [all] Error 2

[murtiad]

Hi yoshiyama,

Have you tried putting the intensity extraction (line 71 in las2pcd.cpp) on comments? It may be that your input LAS point cloud does not possess intensity values.

best,
arnadi

[wienans]

@murtiad sure commenting the intensity feature works. But the problem is not the LAS File. As he sayed it is while compiling.
Actually the issue is that the pcl::PointXYZRGB can't handle intensity. There are other Point Cloud Classes like pcl::PointXYZI which can handle Intensity. i am not sure if there is one which can do intensity and RGB.

[elliotclee]

There isn't a class that can handle both intensity and RGB, so I just changed it to use pcl::PointXYZI and commented out the RGB code below. I also had to change pcl/io/io.h to pcl/common/io.h in las2pcd.cpp.

[roswang]

Hello, I also encountered the same problem, but I found that when I comment out this line, it will compile normally, but there is a gap between the point cloud map, do you have any good solution @yoshiyama