commit 6c394cb395e68d72039b9790fed4fcefe09f00ea
Author: Dmitry Kokorin <dmitry@kokorin.org>
Date:   Sun Sep 11 21:13:40 2022 +0300

    initial commit

diff --git a/CMakeLists.txt b/CMakeLists.txt
new file mode 100644
index 0000000..15b3403
--- /dev/null
+++ b/CMakeLists.txt
@@ -0,0 +1,18 @@
+cmake_minimum_required(VERSION 2.8)
+
+
+set(PROJECT_NAME box3d)
+
+project(${PROJECT_NAME})
+
+find_package(OpenCV REQUIRED)
+
+
+set(HEADERS
+    )
+set(SOURCES
+    main.cpp)
+
+add_executable(${PROJECT_NAME} ${SOURCES} ${HEADERS})
+target_include_directories(${PROJECT_NAME} PUBLIC ${OpenCV_INCLUDE_DIRS})
+target_link_libraries(${PROJECT_NAME} ${OpenCV_LIBS})
diff --git a/data/carbon_bin_picking_gamma_bgcrop.ply b/data/carbon_bin_picking_gamma_bgcrop.ply
new file mode 100644
index 0000000..309ac43
Binary files /dev/null and b/data/carbon_bin_picking_gamma_bgcrop.ply differ
diff --git a/main.cpp b/main.cpp
new file mode 100644
index 0000000..79d5ea2
--- /dev/null
+++ b/main.cpp
@@ -0,0 +1,21 @@
+#include <opencv2/viz.hpp>
+#include <opencv2/viz/viz3d.hpp>
+#include <opencv2/viz/vizcore.hpp>
+
+namespace {
+
+const std::string DEFAULT_POINT_CLOUD_FILE = "../data/carbon_bin_picking_gamma_bgcrop.ply";
+}
+
+int main(int argc, char **argv)
+{
+    cv::viz::Viz3d window("Point cloud");
+    std::string fileName = argc == 2 ? argv[1] : DEFAULT_POINT_CLOUD_FILE;
+
+    auto pointCloud = cv::viz::readCloud(fileName.c_str());
+    cv::viz::WCloud cloudWidget(pointCloud, cv::viz::Color::red());
+    window.showWidget("Point cloud", cloudWidget);
+    window.spin();
+
+    return 0;
+}