Unable to read binary format pcds

[venkataksv]

@dimatura , Thanks for putting together an amazing support for reading point cloud data in python. PCD is a widely used extension in the CV community. I was trying to leverage pypcd support to read a binary pcd but was unsuccessful in all my attempts. Can you please guide me on how to fix this issue to be able to read the pcd info ( binary/ascii ) successfully.

Attaching for reference of the error i had been receiving:

ValueError: field '__0000' occurs more than once

FYI: I was just using

 pc = pypcd.PointCloud.from_path("abc.pcd")

where abc.pcd was a binary format pcd.

[TheLaas]

I have the same problem. If the .pcd file have DATA ascii there is no problem but in the case DATA binary I get the same error.

[TheLaas]

So, my problem was that I had used the bag_to_pcd from the ros node pcl_ros . That script added two _ in FIELDS line in the header. Changing these two _ to something else made it work.

[layssi]

@TheLaas
adding the two highlighted lines below fixes the issue

def parse_header(lines):
""" Parse header of PCD files.
"""
metadata = {}
for ln in lines:
if ln.startswith('#') or len(ln) < 2:
continue
ln = ln.replace('','s',1)
ln = ln.replace('','m',1)
print(ln)
match = re.match('(\w+)\s+([\w\s.]+)', str(ln))

[bobusfil]

@TheLaas Could oyu please tell me how and where did you edit the code? I do No t know how to do this ..

[CoolLoveBoy]

So, my problem was that I had used the bag_to_pcd from the ros node pcl_ros . That script added two _ in FIELDS line in the header. Changing these two _ to something else made it work.

I have the same question. Could you have the answer to this question?

[TheLaas]

If I remember correctly I didn't change the code, I made a script that changed the output-files from bag_to_pcl. And replaced the _ from FIELDS there.

[h-wata]

@TheLaas adding the two highlighted lines below fixes the issue

def parse_header(lines): 
    """ Parse header of PCD files. """ 
    metadata = {} 
    for ln in lines: 
        if ln.startswith('#') or len(ln) < 2: continue 
        ln = ln.replace('_','s',1)
        ln = ln.replace('_','m',1)
        print(ln) 
    match = re.match('(\w+)\s+([\w\s.]+)', str(ln))

I think this is an addition to the above section, although it may have been resolved.

pypcd/pypcd/pypcd.py

Lines 77 to 84 in 20b032b

	def parse_header(lines):
	""" Parse header of PCD files.
	"""
	metadata = {}
	for ln in lines:
	if ln.startswith('#') or len(ln) < 2:
	continue
	match = re.match('(\w+)\s+([\w\s\.]+)', ln)

[udnqv]

Hi, if I change pypcd.py as you suggested above, I get the following error:

Has someone an idea how I can fix this issue?
Thanks in advance!