PointCloudLibrary/pcl

Tools mesh2pcd producing an extra set of spurious points

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#381 opened on Nov 24, 2013

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good first issuekind: bugkind: todomodule: appsmodule: visualization

Description

I am using PCL-1.7 to generate .pcd files from .ply. Specifically the source file located in src/tools/mesh2pcd.cpp. I have 2 observations:

  1. The code is still using pcl::visualizer:: renderViewTesselatedSphere (...). It should be using pcl::apps::RenderViewsTesselatedSphere(), otherwise it SEGFAULT with some .ply files.
  2. The result obtained (the .pcd file) has some extra spurious plane points that do not belong to the original .ply file. As an example, here the original image of a file jar1.ply: http://i.imgur.com/WONtTAz.png And here the output I got (notice the plane crossing the left side of the jar): http://i.imgur.com/qmW8dpA.png

PS.- The change I made to the mesh2pcd file is here: (lines 145 to 155 mainly): http://pastebin.com/ST3g5Twt

Contributor guide

Tech stack
cpp
Domain
tooling
Issue type
bug
DifficultyEstimated implementation difficulty for a new contributor, from 1 for very small changes to 5 for expert-level work.
3
Estimated timeA rough time range for an experienced contributor to investigate, implement, test, and prepare a pull request.
1-3 hours
Activity statusHow available the issue appears right now: fresh, active, stale, blocked, or waiting on maintainer input.
stale
ClarityHow clearly the issue explains the expected change, acceptance criteria, and next step.
clear
Prerequisites
Basic C++Familiarity with PCL libraryUnderstanding of point cloud formats
Newbie friendlinessA 1-100 score estimating how approachable this issue is for first-time contributors.
75
Research direction
Start by examining the source file src/tools/mesh2pcd.cpp, particularly the section where renderViewTesselatedSphere is called (around lines 145-155 as referenced). The issue suggests replacing it with pcl::apps::RenderViewsTesselatedSphere to avoid segfaults. For the extra spurious points, investigate the transformation or rendering logic that might introduce a plane. Consider testing with the provided jar1.ply file.