pcd_viewer [OPTIONS] filenames ...
Display one or several point clouds.
- -bc r,g,b
- -fc r,g,b
- -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)
Willow Garage, Inc. and Open Perception, Inc.