Stereolabs.zed nuget package 3.7.11 is broken for spatial mapping mesh or point cloud.

[gbriggs-trmb]

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Description

Using your spatial mapping example in C# from here: https://github.com/stereolabs/zed-examples/tree/master/spatial%20mapping/basic/csharp

When I run this using Stereolabs.zed Nuget package version 3.7.11, it is mostly broken:

1. You do not get the texture applied to the mesh. This line of code: zedCamera.ApplyTexture(ref mesh); prints this error into the console" [Mesh] [ERROR] Not enable, see sl::Camera::enableSpatialMapping for more informations.

You do end up with a usable .obj mesh file, but without texture. I double checked that spatialMappingParameters.saveTexture = true;

2. The point cloud file is invalid. Run the sample in point cloud mode, it will create a ply file without errors, but if you try to open that ply file in CloudCompare, it complains about invalid data in the file.

I reverted back to Stereolabs.zed Nuget package version 3.7.0, and everything works fine (I get a mesh with texture, and I get a point cloud that opens in CloudCompare).

I believe the version 3.7.11 package is broken.

Steps to Reproduce

1. Run the sample with Nuget 3.7.11 it is broken
2. Run the sample with Nuget 3.7.0 and it works.

Expected Result

You should get an obj file with a texture, or you should get a ply that opens with CloudCompare

Actual Result

You get an obj file with no texture, and you get a PLY file that is corrupted(?)

ZED Camera model

ZED2i

Environment

OS:  WIndows 10
Visual Studio 2022

Anything else?

No response

[Bvallon-sl]

Hi,

I don't have any issue opening ply files generated with the Csharp wrapper. I'm using MeshLab and not CloudCompare.

There is indeed a bug for the mesh generation, it will be fixed in the next release. In the mean time, adding spatialMappingParameters.useChunkOnly = true; should fix it.

Best, Benjamin Vallon

[gbriggs-trmb]

Benjamin Thank you for your reply.

I will use your work around for the mesh generation and try the latest version, and watch for an update in the future.

I discovered the problem with your .ply files in CloudCompare. They are missing a newline character at the end of the file, and apparently cloud compare does not like this. I 'fixed' this in my program by simply opening the .ply file after it is created and appending a newline at the end of it. You may consider adding this fix to your code as well.

Thank you GB

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