CODEWITHSUNDEEP
point-cloud-library
shirin
shirin

Reputation: 175

Point Cloud Visualization

I am trying to load and visualize a point cloud data by "addPointCloud" instruction.

    //***********
pcl::PointCloud<pcl::PointXYZRGBA>::Ptr cloud (new pcl::PointCloud<pcl::PointXYZRGBA>);

if (pcl::io::loadPCDFile<pcl::PointXYZRGBA> ("f.pcd", *cloud) == -1) 
  {
    PCL_ERROR ("Couldn't read the pcd file \n");
    return (-1);
  }
pcl::visualization::PCLVisualizer viewer ("Simple Cloud Viewer");
viewer.setBackgroundColor (0, 0, 0);
viewer.addPointCloud(cloud, "sample cloud");
    //***********

But instead of seeing my point cloud in a black background, only see a white backbround whithout any point cloud. Can any one tell me kindly where is my problem?

Upvotes: 1

Views: 1197

Answers (2)

Ardiya
Ardiya

Reputation: 725

pcl::visualization::PCLVisualizer viewer window object has been created and you're currently looking at just the window... You would need to add .spin()

viewer.spin();

Upvotes: 0

CodeX
CodeX

Reputation: 11

add the following to your code

pcl::PointCloud<pcl::PointXYZRGB>::Ptr cloud (new pcl::PointCloud<pcl::PointXYZRGB>);

// do stuff

pcl::visualization::PointCloudColorHandlerRGB<pcl::PointXYZRGB> rgb(cloud);
viewer.addPointCloud <pcl:PointXYZRGB> (cloud,rgb,"cloud1");

Depending on the viewpoint you have to zoom out.

Hope this helps

Upvotes: 1

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