Auto Color Point Cloud

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Auto Color Point Cloud

jszechy
I'm currently working on a system that plots the point cloud from a real-time LiDAR system used on ground terrain.

Currently I have a simple PointXYZ point cloud that is working, however I'm looking to color the points automatically based on height (z-axis). Most of the scanned terrain is relatively flat, as items rise from the terrain the color should change accordingly. I could of course use PointXYZRGB when adding my data to the cloud, however the data range is always changing and I'd have to go back through every previously added point and adjust the color. Ideally I'm looking for some feature that sets the points with the lowest Z value to blue and the points with the highest to red, and varies the points in between.

My end goal is something similar to the following image:


Is something like this possible with PCL?

Thanks,
Jared

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Re: Auto Color Point Cloud

jszechy
This post was updated on .
I found this tutorial and it accomplishes what I'm looking to do.

http://www.pointclouds.org/documentation/tutorials/qt_colorize_cloud.php

I can probably live with this implementation, unless someone knows of a
better solution.

Thanks!

On Mon, Jul 10, 2017 at 7:00 PM, Jared Szechy <jared.szechy@brilligent.com>
wrote:

> I'm currently working on a system that plots the point cloud from a
> real-time LiDAR system used on ground terrain.
>
> Currently I have a simple PointXYZ point cloud that is working, however
> I'm looking to color the points automatically based on height (z-axis).
> Most of the scanned terrain is relatively flat, as items rise from the
> terrain the color should change accordingly. I could of course use
> PointXYZRGB when adding my data to the cloud, however the data range is
> always changing and I'd have to go back through every previously added
> point and adjust the color. Ideally I'm looking for some feature that sets
> the points with the lowest Z value to blue and the points with the highest
> to red, and varies the points in between.
>
> My end goal is something similar to the following image:
>
> https://www.cartomex.com/wp-content/uploads/2016/03/mobile-1.jpg
>
> Is something like this possible with PCL?
>
> Thanks,
> Jared
>
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