Loading PLY file into PCD - field fails

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Loading PLY file into PCD - field fails

zzzzzzzzzz
I am attempting to load a PLY file into a PCD, however when I parse the PLY I receive error messages:
Failed to find match for field 'x'.
Failed to find match for field 'y'.
Failed to find match for field 'z'.

Even though my call to pcl::io::loadPLYFile seems to return success, when I print the PCD data, all the values are 0.

The header file for the PLY seems okay:

ply
format binary_little_endian 1.0
comment PCL generated
element vertex 100000000
property double x
property double y
property double z

Is my issue that the points are stored as doubles?

Thanks.






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Re: Loading PLY file into PCD - field fails

zzzzzzzzzz
Okay that was the issue -- just made my own PCD with double types and it was fine.
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Re: Loading PLY file into PCD - field fails

icedoggy
I am just curious. Did the point cloud look okay for you after conversion to double?
I had also some trouble with loading LAS files as double which caused the visualization to be really bad due to loss of precision (double to float) when reading in the point clouds because they are handelt as floats internally.

I assume your PCD header has TYPE F F F and SIZE 8 8 8 now? I had this too, no problem for storage but for visualization.

Can you please comment on this?
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Re: Loading PLY file into PCD - field fails

zzzzzzzzzz
Actually the visualizer did not work for me at all. When it did load (without crashing) I got a very strange result where my points we arranged in an enormous 'X' shape (not at all what they should look like).

To be clear, I could not visualize my cloud properly even when I did convert it to float format.

Also, the visualizer works fine for me for simple examples.

I just use CloudCompare for my visualization needs now.

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Re: Loading PLY file into PCD - field fails

icedoggy
Okay thanks for your comment. It seems you had a different issue to what I had in the past.
For me it was not X shaped but it was clearly a loss of precision as I discovered later and documented here: http://www.pcl-users.org/Artifacts-when-converting-point-clouds-from-double-to-float-td4044571.html

So for me it helped to... well read my second post in thread above if you're interested. But it may be different for you when you have another coordinate format.
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