The commented part can be used to add a coordinate system and also visualize the original point cloud. This creates the 3D viewer object, sets the background color to white, adds the range image (as a point cloud) with color black and point size 1 and sets the viewing position in the viewer to the sensor position from the range image (using a function defined above the main). ![]() And by visualizing success, you can build the self-confidence you need to perform well. With good use of visualization, you can practice in advance for the event, so that you can prepare properly for it. initCameraParameters () setViewerPose ( viewer, range_image. Visualization is a simple technique that you can use to create a strong mental image of a future event. setPointCloudRenderingProperties ( pcl :: visualization :: PCL_VISUALIZER_POINT_SIZE, 1, "range image" ) //viewer.addCoordinateSystem (1.0f) //pcl::visualization::PointCloudColorHandlerCustom point_cloud_color_handler (point_cloud_ptr, 150, 150, 150) //viewer.addPointCloud (point_cloud_ptr, point_cloud_color_handler, "original point cloud") viewer. addPointCloud ( range_image_ptr, range_image_color_handler, "range image" ) viewer. setBackgroundColor ( 1, 1, 1 ) pcl :: visualization :: PointCloudColorHandlerCustom range_image_color_handler ( range_image_ptr, 0, 0, 0 ) viewer. pcl :: visualization :: PCLVisualizer viewer ( "3D Viewer" ) viewer. ![]() All of these steps are already covered in the ‘How to create a range image from a point cloud’ tutorial. ![]() In the beginning we do command line parsing, read a point cloud from disc (or create it if not provided) and create a range image. 1 #include 2 3 4 #include 5 #include 6 #include 7 #include 8 #include 9 10 typedef pcl :: PointXYZ PointType 11 12 // - 13 // -Parameters- 14 // - 15 float angular_resolution_x = 0.5f, 16 angular_resolution_y = angular_resolution_x 17 pcl :: RangeImage :: CoordinateFrame coordinate_frame = pcl :: RangeImage :: CAMERA_FRAME 18 bool live_update = false 19 20 // - 21 // -Help- 22 // - 23 void 24 printUsage ( const char * progName ) 25 Explanation
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