c++ - calculate normals and displaying with PCL -


hello i'm trying work whith point cloud planes clustering normals points, i'm using following code seems not working want. don`t know programming on pcl, doubts variable contains cloud if want work with, , displaying normals necessary use pclvisualizer, tried stuff without getting result. pleas give advices results, need. best regards , thank you.

#include <pcl/point_types.h> #include <pcl/visualization/pcl_visualizer.h>     #include <pcl/io/openni_grabber.h> #include <pcl/sample_consensus/sac_model_plane.h> #include <pcl/visualization/cloud_viewer.h> #include <pcl/features/normal_3d.h> using namespace std;   class simpleopenniviewer  {    public:      pcl::normalestimation<pcl::pointxyz, pcl::normal> ne;      simpleopenniviewer () : viewer ("pcl openni viewer") {}      void cloud_cb_ (const pcl::pointcloud<pcl::pointxyz>::constptr &cloud)      {        if (!viewer.wasstopped())        {             ne.setinputcloud (cloud);              pcl::search::kdtree<pcl::pointxyz>::ptr tree (new pcl::search::kdtree<pcl::pointxyz> ());             ne.setsearchmethod (tree);             pcl::pointcloud<pcl::normal>::ptr cloud_normals (new pcl::pointcloud<pcl::normal>);             ne.setradiussearch (0.03);            ne.compute (*cloud_normals);            cout<<"normales calculadas"<<endl;            viewer.showcloud (cloud);        }       }      void run ()      {         pcl::grabber* interface = new pcl::opennigrabber();        boost::function<void (const pcl::pointcloud<pcl::pointxyz>::constptr&)> f =        boost::bind (&simpleopenniviewer::cloud_cb_, this, _1);         interface->registercallback (f);        interface->start ();        while (!viewer.wasstopped())        {          boost::this_thread::sleep (boost::posix_time::seconds (1));        }        interface->stop ();      }      pcl::visualization::cloudviewer viewer;  };   int main ()  {    simpleopenniviewer v;    v.run ();    return 0;  }

i don't know doing, guess input cloud unorganized point cloud. no width , height given. change in example width , height sensor.

if (!viewer.wasstopped()) {  cloud->width = 640; cloud->height = 480;  ne.setinputcloud (cloud);

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