viewer.setBackgroundColor(0, 0, 0);
The three values represent rgb
The range is 0-1, how you set the color is not what you want, but you can only set the above color, either all black, all white, or all red and other pure colors.
How to achieve the effect you want?
Look carefully at the values in the code and the color values in the rgb diagram below, and you will understand what's going on at once
viewer.setBackgroundColor(128.0 / 255.0, 138.0 / 255.0, 135.0 / 255.0); 
The result of the operation is the color above
Change to another color, such as the color in cc
viewer.setBackgroundColor(8.0 / 255.0, 79.0 / 255.0, 117.0 / 255.0); 
more colors
Coloring code for point cloud
//设置点云颜色
pcl::visualization::PointCloudColorHandlerCustom<pcl::PointXYZ>single_color(cloud,0,255,0); //设置背景色 viewer->setBackgroundColor(0,0,0.7)Color a field of the point cloud
boost::shared_ptr<pcl::visualization::PCLVisualizer> genericHandler(pcl::PointCloud<pcl::PointXYZ>::Ptr cloud)
{
boost::shared_ptr<pcl::visualization::PCLVisualizer> viewer(new pcl::visualization::PCLVisualizer("3D Cloud"));
pcl::visualization::PointCloudColorHandlerGenericField<pcl::PointXYZ> rgb(cloud, "y");
viewer->addPointCloud(cloud, rgb, "sample cloud");
return viewer;
}Coloring/gradienting the change of the point cloud along the Z direction
void visualize_pcdOne(pcl::PointCloud<pcl::PointXYZ>::Ptr pcd_src)
{
//创建初始化目标
pcl::visualization::PCLVisualizer viewer("3D Viewer");
// 设置单一颜色
//pcl::visualization::PointCloudColorHandlerCustom<pcl::PointXYZ> color_h(pcd_src, 0, 255, 0);//点云为绿色
//按照z方向深度进行渲染（带渐变色）
pcl::visualization::PointCloudColorHandlerGenericField<pcl::PointXYZ> color_h(pcd_src, "z");
// 添加坐标系
viewer.addCoordinateSystem(0.3); // 读取的点云单位是什么，这个单位就是什么
viewer.setBackgroundColor(0.2, 0.2, 0.2);//背景色为深棕色
viewer.addPointCloud<pcl::PointXYZ>(pcd_src, color_h, "source cloud");
while (!viewer.wasStopped())
{
viewer.spinOnce(100);
//boost 需要加头文件#include <boost/thread/thread.hpp>
boost::this_thread::sleep(boost::posix_time::microseconds(100000));
}
}