diff --git a/depth_image_proc/src/point_cloud_xyzi.cpp b/depth_image_proc/src/point_cloud_xyzi.cpp
index 51f1bec68..78d07d1a0 100644
--- a/depth_image_proc/src/point_cloud_xyzi.cpp
+++ b/depth_image_proc/src/point_cloud_xyzi.cpp
@@ -205,6 +205,8 @@ void PointCloudXyziNode::imageCb(
     convertIntensity<uint16_t>(intensity_msg, cloud_msg);
   } else if (intensity_msg->encoding == enc::TYPE_16UC1) {
     convertIntensity<uint16_t>(intensity_msg, cloud_msg);
+  } else if (intensity_msg->encoding == enc::TYPE_32FC1) {
+    convertIntensity<float>(intensity_msg, cloud_msg);
   } else {
     RCLCPP_ERROR(
       get_logger(), "Intensity image has unsupported encoding [%s]",
diff --git a/depth_image_proc/src/point_cloud_xyzi_radial.cpp b/depth_image_proc/src/point_cloud_xyzi_radial.cpp
index a838bc58d..0f38b03e0 100644
--- a/depth_image_proc/src/point_cloud_xyzi_radial.cpp
+++ b/depth_image_proc/src/point_cloud_xyzi_radial.cpp
@@ -145,6 +145,8 @@ void PointCloudXyziRadialNode::imageCb(
     convertIntensity<uint16_t>(intensity_msg, cloud_msg);
   } else if (intensity_msg->encoding == sensor_msgs::image_encodings::TYPE_16UC1) {
     convertIntensity<uint16_t>(intensity_msg, cloud_msg);
+  } else if (intensity_msg->encoding == sensor_msgs::image_encodings::TYPE_32FC1) {
+    convertIntensity<float>(intensity_msg, cloud_msg);
   } else {
     RCLCPP_ERROR(
       get_logger(), "Intensity image has unsupported encoding [%s]",