Function main

tools/image_viewer.cpp:46–66

#include <vector>

int
main (int, char ** argv)
{
  pcl::PointCloud<pcl::PointXYZ> xyz;
  pcl::io::loadPCDFile(argv[1], xyz);
  
  pcl::visualization::ImageViewer depth_image_viewer_;
  float* img = new float[xyz.width * xyz.height];

  for (int i = 0; i < static_cast<int> (xyz.size ()); ++i)
    img[i] = xyz[i].z;
  
  depth_image_viewer_.showFloatImage (img, 
                                      xyz.width, xyz.height,
                                      std::numeric_limits<float>::min (), 
                                      // Scale so that the colors look brighter on screen
                                      std::numeric_limits<float>::max () / 10, 
                                      true);
  depth_image_viewer_.spin ();
  return (0);
}