Constructed mesh is black

^{Originally posted by **DevAB-Git** April 5, 2022}
Hi,
I'm trying to create a mesh for a simple environment (i.e. playpen, ROS noetic and Gazebo). I used 10 pcd files (recorded using HDL-32E lidar) to create the mesh environment by using the following steps:

1- Remove radius outliers (nb_points=10, radius=0.8) from pcd files and save as ply files

2- Register ply files using point-to-plane ICP and pose graph optimization

3- Combine the ply files. Apparently, the combined cloud looks good (see combined_plys.png).

4- Reconstruct the mesh environment using poisson reconstruction (depth=14). The resultant mesh file shows a black rectangle only (see front.png). The flipped side show a kind of playpen environment but in bad look (see flipped.png). It is observed that the construction process generate a warning "Extract bad average roots: 21".

Could you guys suggest how to fix this issue? Thanks in advance

Combined pointcloud

Mesh Front

Mesh Flipped