The PCL Viewer

PCL Viewer Overview

In environment.cpp a pcl viewer is created. The viewer is used to handle all your visualization of objects on the screen. Some functions that use the pcl viewer inside environment.cpp are initCamera and initHighway. The initCamera function helps you set up different viewing angles in your window. There are five different options: XY, TopDown, Side, and FPS. XY gives a 45 degree angle view, while FPS is First Person Sense and gives the sensation of being in the car’s driver seat.

Also, the functions from render heavily use the viewer as well. You might notice that viewer is usually passed in as a reference. That way the process is more streamlined because something doesn't need to get returned.

Walkthrough of PCL Viewer Code