Visualizing Data

The Visualizer application created in Visual Studio uses the quanergy_client to establish a TCP connection and begin collecting the sensor's status information and range data packets.

1. Open a command line interface, and navigate to this directory:

   C:\quanergy_client-master\Build\Release

where the Release build of the Visualizer application is located (Figure 44 bottom).

2. Launch the PCL Cloud Viewer at the command line by executing the following command, substituting the sensor’s actual IP address for the italicized term.

   visualizer --host *xx.xx.xx.xx*

An example of the command line is shown in Figure 47.

Figure 47. PCL Cloud Viewer Launch

3. After a brief delay of up to thirty seconds, verify that the data packets are displayed as a point cloud, which automatically appears in the PCL Cloud Viewer, as shown in Figure 48, for example.

4. If the point cloud doesn’t appear, move or rotate the mouse wheel to pop the X, Y, Z axes, and then the point cloud, into view.

NOTE: The PCL CloudViewer is only one way to visualize the data packets, and users may recall or record the data packets in different formats.

Figure 48. PCL Cloud Viewer in Default (left) and Mouse-Adjusted (right) Views

5. At the command line, press Control+C to stop all visualization processes.

Clicking the X button in the upper right corner is another way to stop visualization, but it may also generate a notification, as shown in Figure 49. If necessary, click the Close program button to quit the application.

Figure 49. PCL Cloud Viewer Termination Notification