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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.

                                                                                           PCL(1)