Whoops, my bad. I'm already doing that. P.spin() freezes everything until closing the window and p.spinOnce() just keeps the point cloud displayed for specified amount of time while also freezing everything else. What I would like is to keep the visualization on screen without stopping the execution of program. Am I missing on something or is this impossible to do?

Thanks,
Sanja
________________________________________
From: Radu Bogdan Rusu [rusu@willowgarage.com]
Sent: Wednesday, August 11, 2010 1:11 PM
To: ros-users@code.ros.org
Cc: Sanja Popovic
Subject: Re: [ros-users] PCL visualizer - deprecated header

On 08/11/2010 10:03 AM, Sanja Popovic wrote:
> Hi,
> I didn't use it much, just to see what are my point clouds like. Is there any way I can keep the window with the point cloud open while my program continues to execute? ros::spin stops it there until I close the window and I couldn't find any way around it.

Yup, take a look at p.spin and p.spinOnce (we're mimicking the ros standard there), where p is a PCLVisualizer object.
The test examples should exhibit the same behavior, and you can look into pcl_tutorials at
pairwise_registration_alignment for a fancier example that uses viewports (oh, pcd_viewer also does that if you enable
-multiview).

Cheers,
Radu.
--
| Radu Bogdan Rusu | http://rbrusu.com/