ply parser problem with ROS kinetic

asked 2018-06-06 07:01:23 -0500

angeltop gravatar image

updated 2018-06-06 09:03:57 -0500

lucasw gravatar image

Hi all, I am trying to migrate my system from Ubuntu 14.04 and ROS indigo to Ubuntu 16.04 and ROS kinetic. Unfortunately, I can not load any ply files that were generated in Ubuntu 14.04 and ROS indigo. my code:

pcl::PointCloud<pcl::PointXYZ>::Ptr cloud(new 
pcl::PointCloud<pcl::PointXYZ>());
pcl::PLYReader Reader;
Reader.read(ground_truth_filename_ply, *cloud);

The file that I could use in Ubuntu 14.04 produces a segmentation fault in Ubuntu 16.04 and ROS kinetic.

I tried load the .ply file in Meshlab and export it again, but it still could not load it.

With the newly exported .ply file in Ubuntu 16.04 I get the following error:

[pcl::PLYReader] heartDepthMap_0.ply:12: parse error
[pcl::PLYReader::read] problem parsing header!  
[pcl::PLYReader::read] problem parsing header!

If I convert a valid .pcd file to ply with pcl-tools' pcl_pcd2ply command in Ubuntu 16.04 and try to load it as above, I get the following error:

[pcl::PLYReader] heartDepthMap_0.ply:22: property 'float32 focal' of element 'camera' is not handled   
[pcl::PLYReader] heartDepthMap_0.ply:23: property 'float32 scalex' of element 'camera' is not handled   
[pcl::PLYReader] heartDepthMap_0.ply:24: property 'float32 scaley' of element 'camera' is not handled    
[pcl::PLYReader] heartDepthMap_0.ply:25: property 'float32 centerx' of element 'camera' is not handled    
[pcl::PLYReader] heartDepthMap_0.ply:26: property 'float32 centery' of element 'camera' is not handled   
[pcl::PLYReader] heartDepthMap_0.ply:29: property 'float32 k1' of element 'camera' is not handled    
[pcl::PLYReader] heartDepthMap_0.ply:30: property 'float32 k2' of element 'camera' is not handled    
[pcl::PLYReader] heartDepthMap_0.ply:31: parse error    
[pcl::PLYReader::read] problem parsing header!
[pcl::PLYReader::read] problem parsing header!

Thus, I have the following questions:

What changed in pcl and the library can not load .ply files?

Why can I load a .pcd file, but if I use pcl_pcd2ply the generated .ply file can not be parsed by pcl?

Is this a ROS related issue?

Did anyone have the same problem?

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Comments

https://github.com/ethz-asl/point_clo... and https://github.com/PointCloudLibrary/... discuss some similar looking errors from other people.

lucasw gravatar imagelucasw ( 2018-06-07 09:04:25 -0500 )edit