PCL Programming-> Point Cloud Turn depth diagram display __PCL programming

Point cloud Turn Depth diagram display function:

void Depthvisual () {//Object for storing the point cloud.
	PCL::P OINTCLOUD<PCL::P ointxyz&gt::P TR Cloud (New PCL::P OINTCLOUD<PCL::P ointxyz>);
	Object for storing the normals.
	PCL::P ointcloud<pcl::normal&gt::P tr normals (new PCL::P ointcloud<pcl::normal>);
	Read a PCD file from disk.
	if (PCL::IO::LOADPCDFILE&LT;PCL::P ointxyz> ("VINCENT.PCD", *cloud)!= 0) {return;
	} eigen::matrix4f T;
	T << 1, 0, 0, 0, 0, 1, 0, 0, 0, 0, 1, 500, 0, 0, 0, 1;
	eigen::matrix4f T1;
	T1 << 0,-1, 0, 0, 1, 0, 0, 0, 0, 0, 1, 0, 0, 0, 0, 1;
	eigen::affine3f Traw (T*T1); Parameters needed by the planar range image object://Image size.
	Both Kinect and xtion work at 640x480.
	int Imagesizex = 1500;
	int Imagesizey = 1500; Center of projection.
	Here, we choose the middle of the image.
	float CenterX = imagesizex/2.0f;
	float centery = imagesizey/2.0f; Focal length.
	The value seen here is has been taken from the original depth.It is safe to use the same value vertically and horizontally.
	float focallengthx = 800.0f, focallengthy = focallengthx; Sensor pose.
	Thankfully, the cloud includes the data.
	
	eigen::affine3f sensorpose = traw;//eigen::affine3f (eigen::translation3f (0, 0, 0)); Noise level.
	If greater than 0, values of neighboring points would be averaged.
	This would set the search radius (e.g., 0.03 = 3cm).
	float noiselevel = 0.0f; Minimum range.
	If set, any point closer to the sensor than this'll be ignored.

	float minimumrange = 0.0f;
	Planar range Image object.
	Pcl::rangeimageplanar Rangeimageplanar; Rangeimageplanar.createfrompointcloudwithfixedsize (*cloud, Imagesizex, Imagesizey, CenterX, CenterY, FocalLengthX,

	Focallengthx, Sensorpose, Pcl::rangeimage::laser_frame, Noiselevel, Minimumrange);
	Visualize the image.
	Pcl::visualization::rangeimagevisualizer Viewer ("Planar range image");
	Viewer.showrangeimage (Rangeimageplanar); while (!viewer.wasstopped ()) {
		Viewer.spinonce ();
		Sleep 100ms to go easy on the CPU.
	Pcl_sleep (0.1); }
}