How to replace default point shape in PCLVisualizer to other shape?
-
Hello All,
I'm drawing the point cloud data using this library, http://docs.pointclouds.org/1.8.1/cl...isualizer.html
Now I can see point cloud data (In terms of points) on the widgets, but I want to replace all points with another shape (like cross and circle).
I know we can add shapes (line, sphere, arrow, polygon) to widgets, but I don't want to add, I just want to replace all point to a particular shape.
So if anyone has done this or has an idea please suggest me.
Thanks in advance!
-
Hi,
What are you doing with theses widgets ?
-
I'm displaying radar point cloud data on widgets. Now I can see all the points, but if I connect multiple radar PCD input then the user should have the option to distinguish the data from other PCD data. So for my concern, I want to add some shapes like circles or cross instead of points.
-
What are you using to render your points ?
-
Somehow I have added shapes as,
For Cross:pcl::PointXYZ point2(points.x()+2, points.y()+2, points.z()); pclVisualizer.addLine(point1, point2, id); pcl::PointXYZ point3(points.x()+2, points.y()-2, points.z()); pcl::PointXYZ point4(points.x()-2, points.y()+2, points.z()); pclVisualizer.addLine(point3, point4, id1);
For Circle:
pcl::ModelCoefficients circle_coeff; circle_coeff.values.resize (3); // We need 3 values circle_coeff.values[0] = points.x(); circle_coeff.values[1] = points.y(); circle_coeff.values[2] = 1; pclVisualizer.addCircle(circle_coeff, id);
Now I can see cross and circle, but the circle is not so clear so far, How I can make it clear or increase its width?
Thanks