encoding and decoding intensity values in point cloud

[shravanbk11]

Hi, I am trying to encode and decode, intensity values from a LIDAR along with the 3D position information (point cloud). May I know if there is any way to do that?

[william-silversmith]

Hi, I am not sure. Your data are stored in Draco format? Do you have any idea how the intensity values are stored? This library currently only supports a subset of Draco's full feature set.

[shravanbk11]

Thank you for the quick response. The data is stored as a [N * 4] dimension NumPy array. Where the first 3 dimensions correspond to the position and the last is the intensity. As of now, I am able to encode the position as a 3D NumPy array using the Draco.encode() method. The intensity values can either be stored as integer or float values in a NumPy array which denotes the reflectance value of each point in the point cloud.

[william-silversmith]

DracoPy 1.2.0 was just released with support for a uint8 color attribute. Try giving that a spin it might be what you're looking for. Thanks to @zeruniverse for the contribution!