Incorrect point cloud visualization in PCL
I am visualizing point cloud by PCL Visualizer.
pcl::PCDReader reader;
pcl::PointCloud<pcl::PointXYZRGB>::Ptr inputCloud(new pcl::PointCloud<pcl::PointXYZRGB>);
reader.read<pcl::PointXYZRGB>("test.pcd", *inputCloud);
boost::shared_ptr<pcl::visualization::PCLVisualizer> viewer(new pcl::visualization::PCLVisualizer("3D Viewer"));
viewer->setBackgroundColor(0, 0, 0);
viewer->addPointCloud<pcl::PointXYZRGB>(inputCloud, "SourceCloud");
while (!viewer->wasStopped())
{
viewer->spinOnce(100);
boost::this_thread::sleep(boost::posix_time::microseconds(100000));
}
As a result, the cloud is displayed, but wrong. Dots are drawn along some lines:
Wrong result screenshot
Here is an example of displaying this cloud in another program (Bentley Microstation):
Right result screenshot
Where I mistake?
This cloud can download from link:
PCD File
XYZ File
point-cloud-library point-clouds
asked Nov 20 at 5:57
Andrew Kadyshev
12
add a comment |
I am visualizing point cloud by PCL Visualizer.
pcl::PCDReader reader;
pcl::PointCloud<pcl::PointXYZRGB>::Ptr inputCloud(new pcl::PointCloud<pcl::PointXYZRGB>);
reader.read<pcl::PointXYZRGB>("test.pcd", *inputCloud);
boost::shared_ptr<pcl::visualization::PCLVisualizer> viewer(new pcl::visualization::PCLVisualizer("3D Viewer"));
viewer->setBackgroundColor(0, 0, 0);
viewer->addPointCloud<pcl::PointXYZRGB>(inputCloud, "SourceCloud");
while (!viewer->wasStopped())
{
viewer->spinOnce(100);
boost::this_thread::sleep(boost::posix_time::microseconds(100000));
}
As a result, the cloud is displayed, but wrong. Dots are drawn along some lines:
Wrong result screenshot
Here is an example of displaying this cloud in another program (Bentley Microstation):
Right result screenshot
Where I mistake?
This cloud can download from link:
PCD File
XYZ File
point-cloud-library point-clouds
asked Nov 20 at 5:57
Andrew Kadyshev
12
add a comment |
I am visualizing point cloud by PCL Visualizer.
pcl::PCDReader reader;
pcl::PointCloud<pcl::PointXYZRGB>::Ptr inputCloud(new pcl::PointCloud<pcl::PointXYZRGB>);
reader.read<pcl::PointXYZRGB>("test.pcd", *inputCloud);
boost::shared_ptr<pcl::visualization::PCLVisualizer> viewer(new pcl::visualization::PCLVisualizer("3D Viewer"));
viewer->setBackgroundColor(0, 0, 0);
viewer->addPointCloud<pcl::PointXYZRGB>(inputCloud, "SourceCloud");
while (!viewer->wasStopped())
{
viewer->spinOnce(100);
boost::this_thread::sleep(boost::posix_time::microseconds(100000));
}
As a result, the cloud is displayed, but wrong. Dots are drawn along some lines:
Wrong result screenshot
Here is an example of displaying this cloud in another program (Bentley Microstation):
Right result screenshot
Where I mistake?
This cloud can download from link:
PCD File
XYZ File
point-cloud-library point-clouds
asked Nov 20 at 5:57
Andrew Kadyshev
12
I am visualizing point cloud by PCL Visualizer.
pcl::PCDReader reader;
pcl::PointCloud<pcl::PointXYZRGB>::Ptr inputCloud(new pcl::PointCloud<pcl::PointXYZRGB>);
reader.read<pcl::PointXYZRGB>("test.pcd", *inputCloud);
boost::shared_ptr<pcl::visualization::PCLVisualizer> viewer(new pcl::visualization::PCLVisualizer("3D Viewer"));
viewer->setBackgroundColor(0, 0, 0);
viewer->addPointCloud<pcl::PointXYZRGB>(inputCloud, "SourceCloud");
while (!viewer->wasStopped())
{
viewer->spinOnce(100);
boost::this_thread::sleep(boost::posix_time::microseconds(100000));
}
As a result, the cloud is displayed, but wrong. Dots are drawn along some lines:
Wrong result screenshot
Here is an example of displaying this cloud in another program (Bentley Microstation):
Right result screenshot
Where I mistake?
This cloud can download from link:
PCD File
XYZ File
point-cloud-library point-clouds
point-cloud-library point-clouds
asked Nov 20 at 5:57
Andrew Kadyshev
12
asked Nov 20 at 5:57
Andrew Kadyshev
12
edited Nov 20 at 10:23
asked Nov 20 at 5:57
Andrew Kadyshev
12
asked Nov 20 at 5:57
Andrew Kadyshev
12
asked Nov 20 at 5:57
Andrew Kadyshev
12
12
add a comment |
add a comment |
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