Bug about mesh loading in simulation

[sj-li]

Your Environment

• Operating System and version: Ubuntu 16.04
• Compiler: GCC 5.4
• PCL Version: Latest

Expected Behavior

Input a mesh with color, hoping to display it with color.

Current Behavior

The displayed mesh is always in red color.

Possible Solution

In pcl/simulation/src/model.cpp.

change line 119
from
if (plg->cloud.fields[i].name.compare ("rgb") == 0)
to
if (plg->cloud.fields[i].name.compare ("rgb") == 1)

Context

I use simulation module to display a mesh with color.
But the mesh color is always in red.
I find that when loading mesh, the condition to judge the color existing may be wrong.
I change the condition and the result goes as expected

[taketwo]

Good catch! But the fix is wrong and works by accident ;)

Observe that compare function is used to check if the name of the field matches "rgb". According to the documentation, this function returns 0 when strings are equal. So the existing code is correct.

I think the problem might be that your mesh contains colors in the "rgba" field. Can you try to test if this field exists?

[sj-li]

Well, you are right, the filed is "rgba".

So how can I load the color?

[taketwo]

Just change the line to

if (plg->cloud.fields[i].name.compare ("rgb") == 0 || plg->cloud.fields[i].name.compare ("rgba") == 0)

[sj-li]

Ok, I add corresponding code and everything is OK.
Thanks for your help!