Exporting IMU and Point Cloud from Loaded SVO File

Software ROS1
1

Exporting IMU and Point Cloud from Loaded SVO File:
I am working with a ZED2 camera using ROS Noetic on Ubuntu 20.04 in WSL. My laptop is a Dell Precision 7530 Mobile Workstation (Intel Core i7, 64GB RAM, Nvidia Quadro P2000 – compute capability 6.1). I am using ZED_SDK_Ubuntu20_cuda12.1_v4.0.8.zstd.run.

I would like to inquire about how to export/publish a topic from a loaded SVO file. When I use zed_wrapper, it does not create a BAG file. During processing, a warning is displayed:
‘[2023-12-30 07:06:35 UTC][ZED][WARNING] END OF SVO FILE REACHED in sl::ERROR_CODE sl::camera::grab(sl::RuntimeParameters)’

I have tried two SVO files with the same result. Both files can be played in the ZED Explorer.
roslaunch zed_wrapper zed2.launch svo_file:=HD720_SN20817774_10-03-38.svo

I would like to obtain IMU data and a point cloud. I can export frames in the SDK under Windows using ZED_SVO_Export (without losing frames). Is there a way to export these topics (IMU, point cloud) from an existing SVO file, or does it need to be addressed during recording? What is the issue with creating a bag file, and which configuration files need to be modified?

Thank you for any assistance.

roslaunch zed_wrapper zed2.launch svo_file:=HD720_SN20817774_10-03-38.svo

Here are the parameters when running the above command:
SUMMARY

PARAMETERS

  • /rosdistro: noetic
  • /rosversion: 1.16.0
  • /zed2/zed2_description: <?xml version="1…
  • /zed2/zed_node/auto_exposure_gain: True
  • /zed2/zed_node/auto_whitebalance: True
  • /zed2/zed_node/brightness: 4
  • /zed2/zed_node/contrast: 4
  • /zed2/zed_node/depth/depth_mode: ULTRA
  • /zed2/zed_node/depth/depth_stabilization: 1
  • /zed2/zed_node/depth/max_depth: 15.0
  • /zed2/zed_node/depth/min_depth: 0.3
  • /zed2/zed_node/depth/openni_depth_mode: False
  • /zed2/zed_node/depth_confidence: 50
  • /zed2/zed_node/depth_texture_conf: 100
  • /zed2/zed_node/exposure: 100
  • /zed2/zed_node/gain: 100
  • /zed2/zed_node/gamma: 8
  • /zed2/zed_node/general/base_frame: base_link
  • /zed2/zed_node/general/camera_flip: AUTO
  • /zed2/zed_node/general/camera_model: zed2
  • /zed2/zed_node/general/camera_name: zed2
  • /zed2/zed_node/general/gpu_id: -1
  • /zed2/zed_node/general/grab_frame_rate: 30
  • /zed2/zed_node/general/grab_resolution: HD720
  • /zed2/zed_node/general/pub_downscale_factor: 2.0
  • /zed2/zed_node/general/pub_frame_rate: 15.0
  • /zed2/zed_node/general/pub_resolution: CUSTOM
  • /zed2/zed_node/general/region_of_interest:
  • /zed2/zed_node/general/sdk_verbose: 1
  • /zed2/zed_node/general/self_calib: True
  • /zed2/zed_node/general/serial_number: 0
  • /zed2/zed_node/general/svo_compression: 2
  • /zed2/zed_node/general/svo_realtime: True
  • /zed2/zed_node/general/zed_id: 0
  • /zed2/zed_node/hue: 0
  • /zed2/zed_node/mapping/clicked_point_topic: /clicked_point
  • /zed2/zed_node/mapping/fused_pointcloud_freq: 1.0
  • /zed2/zed_node/mapping/mapping_enabled: False
  • /zed2/zed_node/mapping/max_mapping_range: -1
  • /zed2/zed_node/mapping/resolution: 0.05
  • /zed2/zed_node/object_detection/allow_reduced_precision_inference: True
  • /zed2/zed_node/object_detection/max_range: 15.0
  • /zed2/zed_node/object_detection/mc_animal: True
  • /zed2/zed_node/object_detection/mc_bag: True
  • /zed2/zed_node/object_detection/mc_electronics: True
  • /zed2/zed_node/object_detection/mc_fruit_vegetable: True
  • /zed2/zed_node/object_detection/mc_people: True
  • /zed2/zed_node/object_detection/mc_sport: True
  • /zed2/zed_node/object_detection/mc_vehicle: True
  • /zed2/zed_node/object_detection/model: MULTI_CLASS_BOX_A…
  • /zed2/zed_node/object_detection/object_tracking_enabled: True
  • /zed2/zed_node/object_detection/od_enabled: False
  • /zed2/zed_node/object_detection/prediction_timeout: 0.5
  • /zed2/zed_node/point_cloud_freq: 10.0
  • /zed2/zed_node/pos_tracking/area_memory: True
  • /zed2/zed_node/pos_tracking/area_memory_db_path:
  • /zed2/zed_node/pos_tracking/depth_min_range: 0.0
  • /zed2/zed_node/pos_tracking/fixed_z_value: 0.0
  • /zed2/zed_node/pos_tracking/floor_alignment: False
  • /zed2/zed_node/pos_tracking/imu_fusion: True
  • /zed2/zed_node/pos_tracking/init_odom_with_first_valid_pose: True
  • /zed2/zed_node/pos_tracking/initial_base_pose: [0.0, 0.0, 0.0, 0…
  • /zed2/zed_node/pos_tracking/map_frame: map
  • /zed2/zed_node/pos_tracking/odometry_frame: odom
  • /zed2/zed_node/pos_tracking/path_max_count: -1
  • /zed2/zed_node/pos_tracking/path_pub_rate: 2.0
  • /zed2/zed_node/pos_tracking/pos_tracking_enabled: True
  • /zed2/zed_node/pos_tracking/pos_tracking_mode: STANDARD
  • /zed2/zed_node/pos_tracking/publish_map_tf: True
  • /zed2/zed_node/pos_tracking/publish_tf: True
  • /zed2/zed_node/pos_tracking/save_area_memory_db_on_exit: False
  • /zed2/zed_node/pos_tracking/set_as_static: False
  • /zed2/zed_node/pos_tracking/set_gravity_as_origin: True
  • /zed2/zed_node/pos_tracking/two_d_mode: False
  • /zed2/zed_node/saturation: 4
  • /zed2/zed_node/sensors/max_pub_rate: 400.0
  • /zed2/zed_node/sensors/publish_imu_tf: True
  • /zed2/zed_node/sensors/sensors_timestamp_sync: False
  • /zed2/zed_node/sharpness: 4
  • /zed2/zed_node/stream:
  • /zed2/zed_node/svo_file: HD720_SN20817774_…
  • /zed2/zed_node/whitebalance_temperature: 42

NODES
/zed2/
zed2_state_publisher (robot_state_publisher/robot_state_publisher)
zed_node (zed_wrapper/zed_wrapper_node)

auto-starting new master
process[master]: started with pid [1148]
ROS_MASTER_URI=http://localhost:11311

setting /run_id to 068c4f8e-a6df-11ee-a422-7bb975a7085e
process[rosout-1]: started with pid [1169]
started core service [/rosout]
process[zed2/zed2_state_publisher-2]: started with pid [1172]
process[zed2/zed_node-3]: started with pid [1173]
[ INFO] [1703918734.380614457]: Initializing nodelet with 12 worker threads.
[ INFO] [1703918734.767902570]: ********** Starting nodelet ‘/zed2/zed_node’ **********
[ INFO] [1703918734.767999870]: SDK version: 4.0.8
[ INFO] [1703918734.772707570]: *** GENERAL PARAMETERS ***
[ INFO] [1703918734.773452670]: * Camera Model by param → zed2
[ INFO] [1703918734.774099070]: * Camera Name → zed2
[ INFO] [1703918734.774613570]: * Camera resolution → HD720
[ INFO] [1703918734.775116470]: * Camera Grab Framerate → 30
[ INFO] [1703918734.775671470]: * Grab compute capping FPS → 15 Hz
[ INFO] [1703918734.776217370]: * Publishing resolution → CUSTOM
[ INFO] [1703918734.776746270]: * Publishing downscale factor → 2
[ INFO] [1703918734.777182370]: * Gpu ID → -1
[ INFO] [1703918734.777696270]: * Camera ID → 0
[ INFO] [1703918734.778385070]: * SDK Verbose level → 1
[ INFO] [1703918734.779239870]: * Camera Flip → AUTO
[ INFO] [1703918734.779834270]: * Self calibration → ENABLED
[ INFO] [1703918734.780847670]: * Region of interest →
[ INFO] [1703918734.780928270]: *** DEPTH PARAMETERS ***
[ INFO] [1703918734.781706370]: * Depth mode → ULTRA [3]
[ INFO] [1703918734.782228770]: * OpenNI mode → DISABLED
[ INFO] [1703918734.782651770]: * Depth Stabilization → 1
[ INFO] [1703918734.783065770]: * Minimum depth → 0.3 m
[ INFO] [1703918734.783475370]: * Maximum depth → 15 m
[ INFO] [1703918734.783531370]: *** POSITIONAL TRACKING PARAMETERS ***
[ INFO] [1703918734.783951770]: * Positional tracking → ENABLED
[ INFO] [1703918734.784488070]: * Positional tracking mode → POSITIONAL TRACKING MODE STANDARD
[ INFO] [1703918734.784975570]: * Set gravity as origin → ENABLED
[ INFO] [1703918734.785429670]: * Path rate → 2 Hz
[ INFO] [1703918734.785917770]: * Path history size → 1
[ INFO] [1703918734.786606670]: * Odometry DB path →
[ INFO] [1703918734.786979170]: * Save Area Memory on closing → DISABLED
[ INFO] [1703918734.787781070]: * Area Memory → ENABLED
[ INFO] [1703918734.788262170]: * IMU Fusion → ENABLED
[ INFO] [1703918734.788646470]: * Floor alignment → DISABLED
[ INFO] [1703918734.789081671]: * Init Odometry with first valid pose data → ENABLED
[ INFO] [1703918734.789467671]: * Force 2D mode → DISABLED
[ INFO] [1703918734.789927071]: * Broadcast odometry TF → ENABLED
[ INFO] [1703918734.790397171]: * Broadcast map pose TF → ENABLED
[ INFO] [1703918734.790900171]: * Camera is static → DISABLED
[ INFO] [1703918734.791399871]: * Depth minimum range → 0
[ INFO] [1703918734.791477571]: *** MAPPING PARAMETERS ***
[ INFO] [1703918734.792001571]: * Mapping → DISABLED
[ INFO] [1703918734.792819771]: * Clicked point topic → /clicked_point
[ INFO] [1703918734.792953571]: *** OBJECT DETECTION PARAMETERS ***
[ INFO] [1703918734.793687571]: * Object Detection → DISABLED
[ INFO] [1703918734.794807671]: * Object confidence → 50
[ INFO] [1703918734.795513071]: * Object tracking → ENABLED
[ INFO] [1703918734.796172471]: * Detection max range → 15
[ INFO] [1703918734.796659671]: * Allow reduced precision → ENABLED
[ INFO] [1703918734.797203571]: * Prediction Timeout → 0.5
[ INFO] [1703918734.797849571]: * Object Det. model ->MULTI CLASS BOX ACCURATE
[ INFO] [1703918734.798850571]: * Detect people → ENABLED
[ INFO] [1703918734.799766771]: * Detect vehicles → ENABLED
[ INFO] [1703918734.800458971]: * Detect bags → ENABLED
[ INFO] [1703918734.800911071]: * Detect animals → ENABLED
[ INFO] [1703918734.801320771]: * Detect electronics → ENABLED
[ INFO] [1703918734.801713371]: * Detect fruit and vegetables → ENABLED
[ INFO] [1703918734.802098571]: * Detect sport-related objects → ENABLED
[ INFO] [1703918734.802158171]: *** SENSORS PARAMETERS ***
[ INFO] [1703918734.802545771]: * Sensors timestamp sync → DISABLED
[ INFO] [1703918734.803023971]: * Max sensors rate → 400
[ INFO] [1703918734.803484271]: * Broadcast IMU pose TF → ENABLED
[ INFO] [1703918734.803592271]: *** SVO PARAMETERS ***
[ INFO] [1703918734.804524571]: * SVO input file: → /home/pavol/.ros/HD720_SN20817774_10-03-38.svo
[ INFO] [1703918734.804990471]: * SVO realtime mode → ENABLED
[ INFO] [1703918734.805526471]: * SVO REC compression → H265 (HEVC)
[ INFO] [1703918734.806135871]: *** COORDINATE FRAMES ***
[ INFO] [1703918734.807478971]: * camera_frame → zed2_camera_center
[ INFO] [1703918734.807538371]: * imu_link → zed2_imu_link
[ INFO] [1703918734.807630171]: * left_camera_frame → zed2_left_camera_frame
[ INFO] [1703918734.807682171]: * left_camera_optical_frame → zed2_left_camera_optical_frame
[ INFO] [1703918734.807755671]: * right_camera_frame → zed2_right_camera_frame
[ INFO] [1703918734.807812571]: * right_camera_optical_frame → zed2_right_camera_optical_frame
[ INFO] [1703918734.807864671]: * map_frame → map
[ INFO] [1703918734.807898671]: * odometry_frame → odom
[ INFO] [1703918734.807931471]: * base_frame → base_link
[ INFO] [1703918734.807992071]: * depth_frame → zed2_left_camera_frame
[ INFO] [1703918734.808151871]: * depth_optical_frame → zed2_left_camera_optical_frame
[ INFO] [1703918734.808244671]: * disparity_frame → zed2_left_camera_frame
[ INFO] [1703918734.808344571]: * disparity_optical_frame → zed2_left_camera_optical_frame
[ INFO] [1703918734.808434471]: * confidence_frame → zed2_left_camera_frame
[ INFO] [1703918734.808511471]: * confidence_optical_frame → zed2_left_camera_optical_frame
[ INFO] [1703918734.813483371]: * Camera coordinate system → Right HANDED Z UP and X FORWARD
[ INFO] [1703918734.813581371]: *** Opening ZED 2 - SVO - /home/pavol/.ros/HD720_SN20817774_10-03-38.svo ***
[2023-12-30 06:45:34 UTC][ZED][INFO] Logging level INFO
[2023-12-30 06:45:40 UTC][ZED][INFO] [Init] Depth mode: ULTRA
[2023-12-30 06:45:40 UTC][ZED][INFO] [Init] Serial Number: S/N 20817774
[ INFO] [1703918740.461701437]: ZED connection [SVO - /home/pavol/.ros/HD720_SN20817774_10-03-38.svo]: SUCCESS
[ INFO] [1703918742.466413292]: … ZED ready
[ INFO] [1703918742.466493192]: ZED SDK running on GPU #0
[ INFO] [1703918742.466994092]: Camera-IMU Transform:
563F8A28CB68
0.999990 0.003893 0.002349 -0.002000
-0.003887 0.999989 -0.002503 -0.023000
-0.002359 0.002494 0.999994 -0.002000
0.000000 0.000000 0.000000 1.000000

[ INFO] [1703918742.467056992]: * CAMERA MODEL → ZED 2
[ INFO] [1703918742.467073992]: * Serial Number: 20817774
[ INFO] [1703918742.500821993]: *** PUBLISHERS ***
[ INFO] [1703918742.920006504]: * Advertised on topic /zed2/zed_node/rgb/image_rect_color
[ INFO] [1703918742.920116304]: * Advertised on topic /zed2/zed_node/rgb/camera_info
[ INFO] [1703918742.943604505]: * Advertised on topic /zed2/zed_node/rgb_raw/image_raw_color
[ INFO] [1703918742.943676005]: * Advertised on topic /zed2/zed_node/rgb_raw/camera_info
[ INFO] [1703918742.970383506]: * Advertised on topic /zed2/zed_node/left/image_rect_color
[ INFO] [1703918742.970507206]: * Advertised on topic /zed2/zed_node/left/camera_info
[ INFO] [1703918742.995431206]: * Advertised on topic /zed2/zed_node/left_raw/image_raw_color
[ INFO] [1703918742.995510306]: * Advertised on topic /zed2/zed_node/left_raw/camera_info
[ INFO] [1703918743.018069007]: * Advertised on topic /zed2/zed_node/right/image_rect_color
[ INFO] [1703918743.018154107]: * Advertised on topic /zed2/zed_node/right/camera_info
[ INFO] [1703918743.043079208]: * Advertised on topic /zed2/zed_node/right_raw/image_raw_color
[ INFO] [1703918743.043155208]: * Advertised on topic /zed2/zed_node/right_raw/camera_info
[ INFO] [1703918743.067567708]: * Advertised on topic /zed2/zed_node/rgb/image_rect_gray
[ INFO] [1703918743.067641908]: * Advertised on topic /zed2/zed_node/rgb/camera_info
[ INFO] [1703918743.089155109]: * Advertised on topic /zed2/zed_node/rgb_raw/image_raw_gray
[ INFO] [1703918743.089236309]: * Advertised on topic /zed2/zed_node/rgb_raw/camera_info
[ INFO] [1703918743.112944009]: * Advertised on topic /zed2/zed_node/left/image_rect_gray
[ INFO] [1703918743.113017109]: * Advertised on topic /zed2/zed_node/left/camera_info
[ INFO] [1703918743.137391910]: * Advertised on topic /zed2/zed_node/left_raw/image_raw_gray
[ INFO] [1703918743.137475510]: * Advertised on topic /zed2/zed_node/left_raw/camera_info
[ INFO] [1703918743.160138011]: * Advertised on topic /zed2/zed_node/right/image_rect_gray
[ INFO] [1703918743.160221511]: * Advertised on topic /zed2/zed_node/right/camera_info
[ INFO] [1703918743.182084211]: * Advertised on topic /zed2/zed_node/right_raw/image_raw_gray
[ INFO] [1703918743.182166811]: * Advertised on topic /zed2/zed_node/right_raw/camera_info
[ INFO] [1703918743.206497012]: * Advertised on topic /zed2/zed_node/stereo/image_rect_color
[ INFO] [1703918743.231320513]: * Advertised on topic /zed2/zed_node/stereo_raw/image_raw_color
[ INFO] [1703918743.253624513]: * Advertised on topic /zed2/zed_node/depth/depth_registered
[ INFO] [1703918743.253891913]: * Advertised on topic /zed2/zed_node/depth/camera_info
[ INFO] [1703918743.255307213]: * Advertised on topic /zed2/zed_node/confidence/confidence_map
[ INFO] [1703918743.255895513]: * Advertised on topic /zed2/zed_node/disparity/disparity_image
[ INFO] [1703918743.256378113]: * Advertised on topic /zed2/zed_node/point_cloud/cloud_registered
[ INFO] [1703918743.256866113]: * Advertised on topic /zed2/zed_node/pose
[ INFO] [1703918743.257352213]: * Advertised on topic /zed2/zed_node/pose_with_covariance
[ INFO] [1703918743.257828513]: * Advertised on topic /zed2/zed_node/odom
[ INFO] [1703918743.258307413]: * Advertised on topic /zed2/zed_node/odom/status
[ INFO] [1703918743.259281113]: * Advertised on topic /zed2/zed_node/pose/status
[ INFO] [1703918743.261739414]: * Advertised on topic /zed2/zed_node/path_odom
[ INFO] [1703918743.262608114]: * Advertised on topic /zed2/zed_node/path_map
[ INFO] [1703918743.264031714]: * Advertised on topic /zed2/zed_node/imu/data
[ INFO] [1703918743.264887814]: * Advertised on topic /zed2/zed_node/imu/data_raw
[ INFO] [1703918743.265415814]: * Advertised on topic /zed2/zed_node/temperature/imu
[ INFO] [1703918743.265900014]: * Advertised on topic /zed2/zed_node/imu/mag
[ INFO] [1703918743.266342114]: * Advertised on topic /zed2/zed_node/atm_press
[ INFO] [1703918743.266848014]: * Advertised on topic /zed2/zed_node/temperature/left
[ INFO] [1703918743.267393014]: * Advertised on topic /zed2/zed_node/temperature/right
[ INFO] [1703918743.267904314]: * Advertised on topic /zed2/zed_node/left_cam_imu_transform [LATCHED]
[ INFO] [1703918743.267976614]: *** SUBSCRIBERS ***
[ INFO] [1703918743.270460714]: * Subscribed to topic /clicked_point
[ INFO] [1703918743.270539214]: *** SERVICES ***
[ INFO] [1703918743.270995814]: * Advertised on service /zed2/zed_node/set_pose
[ INFO] [1703918743.271439014]: * Advertised on service /zed2/zed_node/reset_odometry
[ INFO] [1703918743.271940514]: * Advertised on service /zed2/zed_node/reset_tracking
[ INFO] [1703918743.272451814]: * Advertised on service /zed2/zed_node/save_area_memory
[ INFO] [1703918743.273010714]: * Advertised on service /zed2/zed_node/start_3d_mapping
[ INFO] [1703918743.273563914]: * Advertised on service /zed2/zed_node/stop_3d_mapping
[ INFO] [1703918743.274169314]: * Advertised on service /zed2/zed_node/save_3d_map
[ INFO] [1703918743.274737714]: * Advertised on service /zed2/zed_node/enable_object_detection
[ INFO] [1703918743.275663714]: * Advertised on service /zed2/zed_node/start_svo_recording
[ INFO] [1703918743.276205014]: * Advertised on service /zed2/zed_node/stop_svo_recording
[ INFO] [1703918743.276805214]: * Advertised on service /zed2/zed_node/set_led_status
[ INFO] [1703918743.277300014]: * Advertised on service /zed2/zed_node/toggle_led
[ INFO] [1703918743.277750614]: * Advertised on service /zed2/zed_node/start_remote_stream
[ INFO] [1703918743.278198814]: * Advertised on service /zed2/zed_node/stop_remote_stream
[ INFO] [1703918743.278639114]: * Advertised on service /zed2/zed_node/set_roi
[ INFO] [1703918743.279082814]: * Advertised on service /zed2/zed_node/set_roi
[ INFO] [1703918743.279277014]: +++ ZED Node started +++
[ INFO] [1703918743.279388914]: Published static transform ‘zed2_imu_link’ → ‘zed2_left_camera_frame’
[ INFO] [1703918743.279550714]: *** Starting Positional Tracking ***
[ INFO] [1703918743.279626014]: * Waiting for valid static transformations…
[ INFO] [1703918743.279739014]: Static transform Sensor to Base [zed2_left_camera_frame → base_link]
[ INFO] [1703918743.279810914]: * Translation: {0.011,-0.060,-0.015}
[ INFO] [1703918743.279897014]: * Rotation: {0.000,-2.865,0.000}
[ INFO] [1703918743.279972114]: Static transform Sensor to Camera Center [zed2_left_camera_frame → zed2_camera_center]
[ INFO] [1703918743.280049614]: * Translation: {0.010,-0.060,0.000}
[ INFO] [1703918743.280094114]: * Rotation: {0.000,-0.000,0.000}
[ INFO] [1703918743.280172114]: Static transform Camera Center to Base [zed2_camera_center → base_link]
[ INFO] [1703918743.280238614]: * Translation: {0.001,0.000,-0.015}
[ INFO] [1703918743.280316214]: * Rotation: {0.000,-2.865,0.000}
[ INFO] [1703918743.780528728]: Initial ZED left camera pose (ZED pos. tracking):
[ INFO] [1703918743.780631428]: * T: [-0.0099875,0.06,0.0154998]
[ INFO] [1703918743.780739928]: * Q: [0,0.0249979,0,0.999687]

2

Hi @Pavol89,

First of all, welcome to the Stereolabs community!

The ROS wrapper seems to work as expected here. The warning you receive means that the SVO sequence has been played until the end.

The zed_wrapper node does not save a ROS bag file by default. To record in a bag file, you can use the rosbag command line tool in another terminal, with the names of topics you wish to save:

rosbag record <topic_1> <topic_2>

When running this command along with the command you’ve shared, you should find the bag file in your working directory.

3

Thank you for your help, this is exactly what I needed. I forgot to use the command to record the bag file. I have another question:
How can I obtain the XYZ coordinates of points in the point cloud after exporting the topic ‘/zed2/zed_node/point_cloud/cloud_registered’?
I can export the entire topic, but I don’t know how to extract the points and their coordinates from it."

4

We don’t provide out-of-the-box samples for reading bag files in ROS 2, here are a few resources that could help:

5

Dear mattrouss,
Thank you for your response. I use ROS, not ROS2. I have resolved the issue with loading coordinates from the point cloud using the readXYZ function in Matlab.

The problem is that both point clouds from the mentioned topics lack colors, although your documentation states that they should be colored clouds (see below):

  • point_cloud/cloud_registered: Registered color point cloud
  • mapping/fused_cloud: Fused color point cloud

Could you please advise me on what the problem might be? Or suggest a procedure for adding RGB colors to the point cloud. Thank you.

6

Hi @Pavol89,

The RGB data of the point cloud should be in the ros bag as well.

Can you try using the readColor method in Matlab as suggested in this post?