Inquiry into saving intensity values in the map file

[yorklyb]

Thanks for your work!
I'm trying to save the intensity values in the map file. However, according to the following command, the intensity values are not saved by default.

livox_mapping/src/laserMapping.cpp

Line 1213 in 78b2938

pcd_writer.writeBinary(all_points_filename, *laserCloudFullResColor_pcd);

So I changed it to pcd_writer.writeASCII(all_points_filename, *laserCloudFullResColor_pcd);
But then I realized that the points pointed by *laserCloudFullResColor_pcd are in the format of pcl::PointXYZRGB

livox_mapping/src/laserMapping.cpp

Line 1136 in 78b2938

pcl::PointXYZRGB temp_point;

I'm pretty confused about this. I'm wondering why the points are not in format pcl::PointXYZI?
Can I change it to pcl::PointXYZI?