PCL(1)

NAME
pcd_viewer - Display point clouds.

SYNOPSIS
pcd_viewer [OPTIONS] filenames ...

DESCRIPTION
Display one or several point clouds.

OPTIONS

-bc r,g,b
    background color

-fc r,g,b
    foreground color

-ps X
    point size (1..64)

-opaque X
    rendered point cloud opacity (0..1)

-ax n
    enable on-screen display of XYZ axes and scale them to n

-ax_pos X,Y,Z
    if axes are enabled, set their X,Y,Z position in space (default 0,0,0)

-cam (*)
    use given camera settings as initial view
     (*) [Clipping Range / Focal Point / Position / ViewUp / Distance /
     Field of View Y / Window Size / Window Pos] or use a <filename.cam>
     that contains the same information.

-multiview 0/1
    enable/disable auto-multi viewport rendering (default disabled)

-normals 0/X
    disable/enable the display of every Xth point's surface normal as lines (default disabled)

-normals_scale X
    resize the normal unit vector size to X (default 0.02)

-pc 0/X
    disable/enable the display of every Xth point's principal curvatures as lines (default disabled)

-pc_scale X
    resize the principal curvatures vectors size to X (default 0.02)

SEE ALSO

Home Page
    http://www.pointclouds.org/

AUTHOR
Willow Garage, Inc. and Open Perception, Inc.