//可视化show the differences of curvature with both large and small scaleif(VISUAL =1){
cout <<"click q key to quit the visualizer and continue!!"<< endl;
boost::shared_ptr<pcl::visualization::PCLVisualizer>MView(new pcl::visualization::PCLVisualizer("Showing the difference of curvature of two scale"));
pcl::visualization::PointCloudColorHandlerGenericField<pcl::PointNormal>handler_k(doncloud,"curvature");//PointCloudColorHandlerGenericField方法是将点云按深度值(“x”、“y”、"z"均可)的差异着以不同的颜色。
MView->setBackgroundColor(1,1,1);
MView->addPointCloud(doncloud, handler_k);
MView->setPointCloudRenderingProperties(pcl::visualization::PCL_VISUALIZER_POINT_SIZE,3);
MView->setPointCloudRenderingProperties(pcl::visualization::PCL_VISUALIZER_OPACITY,0.5);
MView->spin();}