Deciphering the coordinate values in a LiDAR pcd file

I am trying to work on the aspect of removing the ground reflection and detection in a pcd file of a LIDAR data. How will I get the values of the x, y, z 3D points in the data and the intensity values in that particular set be obtained ? Basically I am trying to get the lowest z values possible in the data set and get the intensity of that and subtract the value from all the other ground points. Is this the right way to do it ?

Take a look at how we load lidar data:

Then you can simply access the matrix as pc.points. To get the lowest z values you can do np.min(pc.points[2, :]).

Thanks a lot. I shall try the approach.