1. What are Range Images?

2. Visualizing a range image
Code to visualize a range image:
and then: or:
Corresponding Tutorial: Visualization → How to visualize a range image
RangeImageVisualizer range_image_widget ("Range image");
range_image_widget.setRangeImage (range_image);
range_image_widget.spin ();
while (…) { …
range_image_widget.spinOnce (); }

3. Range Image Visualization
Relevant headers and functions:
visualization/include/pcl/visualization/common/image_widget_wx.h
visualization/include/pcl/visualization/range_image_visualizer.h
void setRGBImage (const unsigned char* data, unsigned int width, unsigned int height, const char* name="RGB image");
void setFloatImage (const float* float_image, unsigned int width, unsigned int height, const char* name="float image",
float min_value = -std::numeric_limits<float>::infinity (),
float max_value = std::numeric_limits<float>::infinity (), bool grayscale=false);
Void setRangeImage (
const pcl::RangeImage& range_image,
float min_value = -std::numeric_limits<float>::infinity (), float max_value = std::numeric_limits<float>::infinity (), bool grayscale = false);

4. Compile & Try
$ cd $PCL_ROOT/doc/tutorials/content/sources/range_image_visualization
$ mkdir build
$ cd build
$ cmake ..
$ make
$ ./range_image_visualization ~/office_scene.pcd

5. More interesting functions
Mark a certain pixel in the image (pixel coordinates are given in the original image coordinates): void markPoint (float x, float y, const wxPen* color=wxGREEN_PEN, const wxBrush* background=wxTRANSPARENT_BRUSH);
Draw a line in the image (pixel coordinates are given in the original image coordinates): void markLine (float x1, float y1, float x2, float y2, const wxPen* color=wxGREEN_PEN);