View multiple Point Clouds in same window using PCL in C++ -


i have 2 point cloud, want visualise in same window.

#include <pcl/io/io.h> #include <pcl/io/pcd_io.h> #include <pcl/visualization/cloud_viewer.h>  int main () {     pcl::visualization::cloudviewer viewer("cloud viewer");      pcl::pointcloud<pcl::pointxyzrgba>::ptr body (new pcl::pointcloud<pcl::pointxyzrgba>);     pcl::io::loadpcdfile ("body.pcd", *body);      pcl::pointcloud<pcl::pointxyzrgba>::ptr head (new pcl::pointcloud<pcl::pointxyzrgba>);     pcl::io::loadpcdfile ("head.pcd", *head);      viewer.showcloud (body);     viewer.showcloud (head);     while (!viewer.wasstopped ())     {     }     return 0; }

i can see last pcd file.

please note don't want use pcd_viewer tool since need other processing on data.

regarding comment

"okay. check soon. can tell me set camera parameters , background color using cloud_viewer api?"

i not 100% sure if can using pcl::visualization::cloudviewer. however, if move code pcl::visualization::pclvisualizer can viewer.setbackgroundcolor(double red,double green,double blue) (where values range 0..1. set camera). camera, can use pcl::visualization::pclvisualizer::setcameraposition. moving code cloudviewer pclvisualizer preatty easy.

#include <pcl/io/io.h> #include <pcl/io/pcd_io.h> #include <pcl/visualization/pcl_visualizer.h>  int main () {     pcl::visualization::pclvisualizer viewer("cloud viewer");      pcl::pointcloud<pcl::pointxyzrgba>::ptr body (new pcl::pointcloud<pcl::pointxyzrgba>);     pcl::io::loadpcdfile ("body.pcd", *body);      pcl::pointcloud<pcl::pointxyzrgba>::ptr head (new pcl::pointcloud<pcl::pointxyzrgba>);     pcl::io::loadpcdfile ("head.pcd", *head);      viewer.addpointcloud (body,"body");// note before showcloud     viewer.addpointcloud (head,"head");// note before showcloud     viewer.spin();     return 0; }

edit ther acutally way this. looking here, can see can run of function of pcl::visualization::pclvisualizer using pcl::visualization::cloudviewer::runonvisualizationthreadonce or pcl::visualization::cloudviewer::runonvisualizationthread functions. this, need create function part uses pcl::visualization::pclvisualizerand pass cloudviewer::runonvisualizationthreadonce or cloudviewer::runonvisualizationthread.

for example

#include <pcl/io/io.h> #include <pcl/io/pcd_io.h> #include <pcl/visualization/cloud_viewer.h>  void  setbackground (pcl::visualization::pclvisualizer& viewer) {     viewer.setbackgroundcolor (1.0, 0.5, 1.0);     }  int main () {     pcl::visualization::pclvisualizer viewer("cloud viewer");      pcl::pointcloud<pcl::pointxyzrgba>::ptr body (new pcl::pointcloud<pcl::pointxyzrgba>);     pcl::io::loadpcdfile ("body.pcd", *body);      pcl::pointcloud<pcl::pointxyzrgba>::ptr head (new pcl::pointcloud<pcl::pointxyzrgba>);     pcl::io::loadpcdfile ("head.pcd", *head);      viewer.showcloud (body,"body");     viewer.showcloud (head,"head");      viewer.runonvisualizationthreadonce(setbackground);      while (!viewer.wasstopped ())     {     }     return 0; }

the issue not see how potentially pass arguments pcl::visualization::pclvisualizer function want use in function crated (in previous example pcl::visualization::pclvisualizer::setbackgroundcolorin setbackground. this, think using directly pcl::visualization::pclvisualizer better.


Comments

Post a Comment

Popular posts from this blog

python - Operations inside variables -

this question has answer here: evaluating mathematical expression in string 12 answers i want make python script finds maximum possible output using 2 operations. problem says there syntax error @ 2nd last line, in b in there. how can fix it? x = 0 = int(input("1st number:")) c = int(input("2nd number:" )) e = int(input("3rd number:" )) in range(4): if == 0: b = "+" elif == 1: b = "-" elif == 2: b = "/" else: b = "*" j in range(4): if j == 0: d = "+" elif j == 1: d = "-" elif j == 2: d = "/" else: d = "*" k = b c d e print(k) if you're after variables e on single line, couldn...
Read more

Generic Map Parameter java -

i having lot of methods of type: public static list<eduusers> getdetails(class c, map<string, integer> params) { list<eduusers> details = null; session session = hibernateutil.getsessionfactory().opensession(); transaction tx = null; try { tx = session.begintransaction(); criteria cr = session.createcriteria(c); (map.entry<string, integer> entry : params.entryset()) { cr.add(restrictions.eq(entry.getkey(), entry.getvalue())); } details = cr.list(); tx.commit(); } catch (exception asd) { log.debug(asd.getmessage()); if (tx != null) { tx.commit(); } } { session.close(); } return details; } i trying have generic method them , have written far: public static <t> list<t> getdetails(class<t> c, class<t> b) { l...
Read more

arrays - What causes a java.lang.ArrayIndexOutOfBoundsException and how do I prevent it? -

what arrayindexoutofboundsexception mean , how rid of it? here code sample triggers exception: string[] name = {"tom", "dick", "harry"}; for(int = 0; i<=name.length; i++) { system.out.print(name[i] +'\n'); } your first port of call should documentation explains reasonably clearly: thrown indicate array has been accessed illegal index. index either negative or greater or equal size of array. so example: int[] array = new int[5]; int boom = array[10]; // throws exception as how avoid it... um, don't that. careful array indexes. one problem people run thinking arrays 1-indexed, e.g. int[] array = new int[5]; // ... populate array here ... (int index = 1; index <= array.length; index++) { system.out.println(array[index]); } that miss out first element (index 0) , throw exception when index 5. valid indexes here 0-4 inclusive. correct, idiomatic for statement here be: for (int index = 0; index <...
Read more