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I am new to PCL so please pardon me if this is a dumb question.
I have trying to visualize the Point Cloud from a Xtion Pro Live and I am having some trouble with "pcl::visualization::PCLVisualizer" class. The problem is that there is a noticeable time lag (around 1-2sec) between the actual activity and the one displayed on the screen. Here is whats happening in the while loop:
Am I doing something wrong here which might be causing the time-lag or is it something to do with my PC? Moreover, I am also manually computing the frame-rate in the while loop and its giving me a max of 6.8Hz, without any other processing on the cloud (just the visualization). Is there any way of speeding that up?
P.S. I have tried using pcl::visualization::CloudViewer class as well for visualizing but that never works for me :/
Thanks for replying. I am using the people detection app (http://pointclouds.org/documentation/tutorials/ground_based_rgbd_people_detection.php) and trying to visualize the results, as implemented in this code. The processing increases the time-lag in visualization quite a bit and the frame-rate drops to 2.5Hz. But even if I remove all the processing and just try to visualize the grabbed point cloud, lag is still around half a second and the frame-rate is mere 8-9Hz.
I am a bit new to the area so I dont really know how raw OpenGL works and how to switch out of debug mode. Can you elaborate on that please. May be you could point out a tutorial I could look into.