kitt2bag 解决“Failed to find match for field intensity”问题

问题重述：将kitti数据集中的点云bin文件转为bag包文件后参考方法，ros节点处理bag包中的点云数据，运行时出现“Failed to find match for field 'intensity'.”问题。

问题分析：该问题出现一般为采用含有强度字段的点云类型（如：PointXYZI）加载了没有强度信息的点云。而从kitti数据集中下载的点云数据结构为（x,y,z,i）是含有强度信息的，那么上述问题可能是bin文件转bag文件时点云强度（intensity）信息丢失导致？

解决方法：

修改kitti2bag
从新生成bag

修改步骤：

在终端中输入whereis kitti2bag找到该文件的路径。
```
whereis kitti2bag
```

打开该路径的文件vim/gedit修改将 'i'改为'intensity'

修改后# fill pcl msgfields = [PointField('x', 0, PointField.FLOAT32, 1),PointField('y', 4, PointField.FLOAT32, 1),PointField('z', 8, PointField.FLOAT32, 1),PointField('intensity', 12, PointField.FLOAT32, 1)]pcl_msg = pcl2.create_cloud(header, fields, scan)#原来代码# fill pcl msgfields = [PointField('x', 0, PointField.FLOAT32, 1),PointField('y', 4, PointField.FLOAT32, 1),PointField('z', 8, PointField.FLOAT32, 1),PointField('i', 12, PointField.FLOAT32, 1)]pcl_msg = pcl2.create_cloud(header, fields, scan)i

重新转换bag文件

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kitt2bag 解决“Failed to find match for field intensity”问题

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