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PCL(1) General Commands Manual 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.