point-cloud-visualizer

Tutorial to demonstrate visualization of Point Clouds in PCL

Compilation

$ git clone https://github.com/ravijo/point-cloud-visualization.git
$ cd point-cloud-visualization
$ mkdir build
$ cd build
$ cmake ..
$ make

After following the above instructions, you should be able to see two executable files inside the build directory.

Project Structure

The project contains the following files:

1. simple_visualizer.cpp

   $ cd build
   $ ./simple_visualizer

2. advance_visualizer.cpp

   $ cd build
   $ ./advance_visualizer

3. pick_point.cpp

   $ cd build
   $ ./pick_point capture.pcd

4. surface_normal_visualizer.cpp

   $ cd build
   $ ./surface_normal_visualizer

Tips

1. Press h key in order to see more controls, such as take screenshot etc.
2. To pick a point in cloud, hold down SHIFT key while left-clicking.
3. In order to change the camera angle, camera pose can also be provided as a part of command line argument as following: ./advance_visualizer -cam 0.026123,26.123/-0.00599269,0.00252074,1.00064/0.160405,0.457474,-1.54746/0.0138908,-0.984493,-0.17487/0.8575/1863,1176/57,24

Issues (or Error Reporting)

Please check here and create issues accordingly.