Strange point cloud distortion when reading files using Open3D

[TtonyLan]

Checklist

• [X] I have searched for similar issues.
• [X] For Python issues, I have tested with the latest development wheel.
• [X] I have checked the release documentation and the latest documentation (for master branch).

My Question

I am having trouble with my point cloud files in PCD format when using Open3D. After reading the files into Open3D using the read_point_cloud function, the point cloud appears to be segmented into horizontal aranged that are approximately 25cm apart along the y-axis. Within each aranged line, the points are spaced approximately 3cm apart along the y-axis. However, the total number of points in the point cloud remains unchanged.

I have tried visualizing the same files using LIDAR 360 and CloudCompare, and they appear normal. The problem only seems to occur after reading the files into Open3D.

[errissa]

Would you please share the code snippet you're using to read the point cloud? Also, please share the PCD if you can. Thanks!

[TtonyLan]

Would you please share the code snippet you're using to read the point cloud? Also, please share the PCD if you can. Thanks!

Sure, below is my code and PCD https://drive.google.com/file/d/1K5JR6U6y8xeJ63u3FlMAS58E4fIaj8-A/view?usp=share_link `import open3d as o3d

pcd = o3d.io.read_point_cloud("3-3.pcd")

voxel_size=0.01 pcd_down = pcd.voxel_down_sample(voxel_size) pcd_down.estimate_normals(search_param=o3d.geometry.KDTreeSearchParamHybrid(radius=0.2, max_nn=30))

vis = o3d.visualization.Visualizer() vis.create_window() vis.add_geometry(pcd) vis.run() vis.destroy_window()`

I have some experience with open3d and have never encountered this kind of problem in previous work