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pcd转ply后在meshlab无法打开,提示 Error details: Unespected eof
2022-07-06 08:22:00 【Will_Ye】
1. Problem
有一个pcd格式的点云文件,用pcd_viewer可以正常显示,但是想在meshlab里面做些编辑,发现无法打开,提示如下的错误
然后用vim
或gedit
来打开它,就会发现问题,有些点云文件很大,可能卡死在半路,但是我这个点云文件很小,用gedit test2.ply
,显示如下:
可见,都是乱码的错误,所以可以推断,从pcd转成ply的过程处问题了。一般我们都是用pcl_pcd2ply ./1650511200.015289296.pcd ./test2.ply
来转换pcd和ply,所以可以确定的是这个指令是没问题的,所以问题出在pcd文件那里。如果平时有留意导入pcd文件后,很多人都会做一个去除NAN值的操作,这一点其实很关键,因为在pcd文件里,确实会保存一些NAN值,而如果我们不先去除它们,直接转成ply文件,就会出现上述的情况,知道原因后,解决就简单了。
2. Solution
思路是:在pcd转ply前,先做一次去除NAN值操作,然后在进行转换,就没问题了。以下是实现代码:
int PCD2PLY_W_removeNAN(string pcdPath, string savePath)
pcl::PCLPointCloud2 cloud_ori;
if (loadPCDFile(pcdPath, cloud_ori) < 0)
{
cout << "Error: cannot load the PCD file!!!" << endl;
return -1;
}
// remove NaN type points
//依赖函数 #include <pcl/filters/filter.h>
std::vector<int> mapping;
pcl::removeNaNFromPointCloud(*cloud_ori, *cloud_ori, mapping);
string savePath = "/home/will/test1.ply";
pcl::PLYWriter writer;
writer.write(savePath,*cloud_ori);
return 0;
}
这时生成的test1.ply
就能在meshlab顺利打开了。
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