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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

background color

foreground color

point size (1..64)

rendered point cloud opacity (0..1)

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

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

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.

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

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

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

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

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

SEE ALSO

http://www.pointclouds.org/

AUTHOR

Willow Garage, Inc. and Open Perception, Inc.