PointCloudLibrary / PointCloudLibrary/pcl

Reading PLY file produces wrong encoding

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Dominant language
C++
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Description

Dear all,
I've been trying to load the Stanford Bunny PLY, and I get errors with my own simple app —

#include <iostream>
#include <pcl/io/pcd_io.h>
#include <pcl/io/ply_io.h>
#include <pcl/point_types.h>

using namespace std;

int
main (int argc, char** argv)
{
  pcl::PointCloud<pcl::PointXYZRGB>::Ptr cloud (new pcl::PointCloud<pcl::PointXYZRGB>);

  if (pcl::io::loadPLYFile ("bun000.ply", *cloud) == -1) //* load the file
  {
    PCL_ERROR ("Couldn't read file bun000.ply \n");
    system("pause");
  }
  cout<<"point size: "<<cloud->points.size ()<<endl;
  cout<<"width: "<<cloud->width<<endl;
  cout<<"height: "<<cloud->height<<endl;

  for (uint i = 0; i < cloud->size(); ++i)
    cout << cloud->points[i].x << ' ' << cloud->points[i].y << " " << cloud->points[i].z << endl;

  system("pause");
  return (0);
}

and its output:

point size: 204800
width: 512
height: 400
1.#QNAN 1.#QNAN 1.#QNAN

I use the lateset vresion of PCL,and run it on VS2010 64 bit.

test file: http://graphics.stanford.edu/data/3Dscanrep/
bun000.ply in "bunny.tar.gz".

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First steps

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  4. Open a pull request that references the issue number.

Research direction

Start with the sample program's call to pcl::io::loadPLYFile in pcl/io/ply_io.h and reproduce it with bun000.ply from bunny.tar.gz under VS2010 64-bit. Inspect why the loaded PointXYZRGB coordinates print as 1.#QNAN. Done means the file loads without NaN coordinates while preserving the reported cloud dimensions.

Written by the indexing model from the issue text.

Assessment

Tech stack
cpp
Domain
computer-vision
Issue type
Bug
Difficulty
3/5
Estimated time
1-2 days
Activity status
Stale
Clarity
Mostly clear
Newbie friendliness
35/100

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