Change background color and Camera Parameters in Cloud Viewer

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Change background color and Camera Parameters in Cloud Viewer

Ravi Joshi
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Hello everyone,

I want to change the background color and camera parameters in Cloud Viewer. Below is the detailed description:

1) I have two PCD files, the first PCD is collected from Kinect Camera and it has color information too. Second PCD file is designed, which I want to render using some color (let say green). I want to view both the PCD files together in the same window.

2) Using pcl_viewer program, I am able to get the camera parameters. However, I couldn't the way to change these parameters inside the code. Below are the camera parameters:
0.0171949,17.1949/0,0,-1/-3.05552,-0.598537,3.60633/-0.25534,0.965855,-0.0438735/0.523599/1863,600/57,52

I am following the Cloud Viewer example code (http://pointclouds.org/documentation/tutorials/cloud_viewer.php) but it seems that it can't show two clouds at the same time.

My question is, how to view two PCD files together while changing the color of one PCD file, also change the background color and camera parameters? I would appreciate more if code snippet is also provided.

Thank you very much

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Regards
Ravi