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)

AUTHOR

Willow Garage, Inc. and Open Perception, Inc.