Is it possible to keep pointcloud other channel data when save keyframe?

Hi all,
We are using ouster lidar with hdl_graph_slam, ouster lidar has additional data(such as ambient) on pointcloud msg, but looks like hdl_graph_slam only keep xyz value on pointcloud.
Is it possible to keep ambient/reflectivity data when build 3d map, or what should I do to achieve this?

If you need only ambient, you can consider modifying the prefiltering nodelet so that it stores ambient values to the intensity channel.

hdl_graph_slam/apps/prefiltering_nodelet.cpp

Line 106 in 46538c7

void cloud_callback(const pcl::PointCloud<PointT>& src_cloud_r) {

If you need only ambient, you can consider modifying the prefiltering nodelet so that it stores ambient values to the intensity channel.

hdl_graph_slam/apps/prefiltering_nodelet.cpp

Line 106 in 46538c7

void cloud_callback(const pcl::PointCloud<PointT>& src_cloud_r) {

Thanks for your help! I will try it next week :)