osgpcl by Adam Stambler Carnegie Mellon University OpenSceneGraph Point Cloud Library This is a repository of PCL visualization tools implemented using the OpenSceneGraph Library. The cloud viewer application can view in core and out of core points. Depedencies: PCL http://www.pointclouds.org/ OpenSceneGraph http://www.openscenegraph.org/ Usage: To force color rendering (needed for out of core viewing) use cloud_viewer -C You can find a large example point cloud to try at: https://www.dropbox.com/s/djiey6b4jnc5dv0/chappes.pcd To view the full point cloud in color, simply use cloud_viewer -C chappes.pcd You can generate an out of core point cloud from this large point cloud via pcl_outofcore_process -gen_lod chappes.pcd chappes_tree Then use "cloud_viewer -C chappes_tree/tree.oct_idx" to view in color. This is the Chappes Cathedral Dataset courtesy of Prof. Peter Allen, Columbia University Robotics Lab. Scanning by Alejandro Troccoli and Matei Ciocarlie. It was taken from http://pr.willowgarage.com/data/megatree/chappes.pts