PCL: Visualize a point cloud

c++, point-cloud-library, point-clouds

Solution

Your error message tells you what you need to do:

error: no matching function for call to ‘pcl::visualization::CloudViewer::showCloud(pcl::PointCloud<pcl::PointXYZ>&)’

So go to the documentation for CloudViewer and see what arguments this member function takes: http://docs.pointclouds.org/1.5.1/classpcl_1_1visualization_1_1_cloud_viewer.html

There we see that it takes a `const MonochromeCloud::ConstPtr &cloud` not the raw reference that you are passing in. This is a typedef of a smart pointer from boost:

typedef boost::shared_ptr<const PointCloud<PointT> > pcl::PointCloud< PointT >::ConstPtr

So when you create your cloud you need to wrap it in one of these smart pointers instead of making it a local variable. Something like (untested):

pcl::MonochromeCloud::ConstPtr cloud(new pcl::PointCloud<pcl::PointXYZ>());

Then, when you pass in the variable cloud, it will have the correct type and you won't get the error that you report. You will also have to change your `cloud.foo`s to `cloud->foo`s.

Looking at the second example you give, they do this as well:

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

Problem

I'm trying to visualize a point cloud using PCL CloudViewer. The problem is that I'm quite new to C++ and I have found two tutorials first demonstrating the creation of PointCloud and second demonstrating the visualization of a PointCloud. However, I'm not able to combine these two tutorials. Here is what I have come up with: ``` #include <iostream> #include <pcl/io/pcd_io.h> #include <pcl/point_types.h> #include <pcl/visualization/cloud_viewer.h> int main (int argc, char** argv) { pcl::PointCloud<pcl::PointXYZ> cloud; // Fill in the cloud data cloud.width = 5; cloud.height = 1; cloud.is_dense = false; cloud.points.resize (cloud.width * cloud.height); for (size_t i = 0; i < cloud.points.size (); ++i) { cloud.points[i].x = 1024 * rand () / (RAND_MAX + 1.0f); cloud.points[i].y = 1024 * rand () / (RAND_MAX + 1.0f); cloud.points[i].z = 1024 * rand () / (RAND_MAX + 1.0f); } pcl::visualization::CloudViewer viewer ("Simple Cloud Viewer"); viewer.showCloud (cloud); while (!viewer.wasStopped ()) { } return (0); } ``` but that even do not compile: ``` error: no matching function for call to ‘pcl::visualization::CloudViewer::showCloud(pcl::PointCloud<pcl::PointXYZ>&)’ ```

Original source