creating RGB-I pointcloud in python

edit

I am on Ubuntu 16.04 / Kinetic and am trying to extract pointclouds from a Rosbag in python.

I have installed libpcl-dev through apt (1.7.2) and python-pcl 0.2.0 from the source here: https://github.com/strawlab/python-pc...

I can correctly extract the RGB-I points using this:

  points_list = []
  for data in pc2.read_points(ros_cloud, skip_nans=True):
      points_list.append([data[0], data[1], data[2], data[3]])

However, I cannot then create a pointcloud: There is no such member: pcl.PointCloud_PointXYZI only pcl.PointCloud which appears to only support XYZ from reading the API docs http://strawlab.github.io/python-pcl/...

Do I need a more recent verison of PCL?