Visualize Point Cloud in Project Tango from PCL

Question

I would like to do the following with my application in Project Tango:

1. Read the Point cloud data.
2. Filter the points using PCL
3. Segment Points Using PCL RANSAC plane fitting algorithm
4. Color each segment
5. Display the point cloud segmented with different color on the screen

I have reach step 3 now, and my problem is how to display the points. what I need is an output similar to the plane-fitting C++ example provided by Google. I'm using java point cloud example with native code. I need the displaying to ensure of the filter step and the segmenting output.

My problem is that I don't have any idea how should I perform the visualization in Android from PCL?.

Thanks

Answer 1

For simple task like this, pure OpenGL could work. Tango sample code uses a render library called Rajawalli, which is used more for games.