How to replace default point shape in PCLVisualizer to other shape?

[npatil15]

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!

[SGaist]

Hi,

What are you doing with theses widgets ?

[npatil15]

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.

[SGaist]

What are you using to render your points ?

[npatil15]

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