How to visualize the graph?

[BobH62]

I follow the instruction and run the code without crash. But I could not find out whether there is a function in the code to visualize the graph. So any hint to reproduce the results of the semantic nodes and the edges?

[gxytcrc]

Hello, we visualize the point cloud by using the PCL libarary, the function is in the PointCloudMapping.cpp, please check the code (The main.cpp has the function but it is commented, try to uncomment these lines, and run the code), thank you.