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c++boostvisualizationpoint-cloud-librarypoint-clouds

Larger normal vectors for PCL visualization

I am using NormalEstimation<PointXYZ, Normal> to compute the normals for PointCloud<PointXYZ> and get PointCloud<PointNormal>. Afterwards, I use addPointCloudNormals<PointXYZ, Normal>() for my visualization to put the points and their normal vectors together.

My visualization works, and I can see normal vectors corresponding the points in space. However they are too small and I was wondering if there is a way of making them more visible. An example to more visible normal vectors could be found at the official tutorials http://pointclouds.org/documentation/tutorials/normal_estimation.php

Solution

  • I realized that increasing the scale argument of addPointCloudNormals is doing sort of what I was looking for even though it does not exactly increase the volume of arrows similar to those shown in the tutorial.