.TH PCL 1

.SH NAME

pcd_viewer \- Display point clouds.

.SH SYNOPSIS

.B pcd_viewer [OPTIONS] filenames ...

.SH DESCRIPTION

Display one or several point clouds.

.SH OPTIONS

.TP 5
\-bc r,g,b
background color

.TP 5
\-fc r,g,b
foreground color

.TP 5
\-ps X
point size (1..64) 

.TP 5
\-opaque X
rendered point cloud opacity (0..1)

.TP 5
\-ax n
enable on-screen display of XYZ axes and scale them to n

.TP 5
\-ax_pos X,Y,Z
if axes are enabled, set their X,Y,Z position in space (default 0,0,0)

.TP 5
\-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.

.TP 5
\-multiview 0/1
enable/disable auto-multi viewport rendering (default disabled)

.TP 5
\-normals 0/X
disable/enable the display of every Xth point's surface normal as lines (default disabled)

.TP 5
\-normals_scale X
resize the normal unit vector size to X (default 0.02)

.TP 5
\-pc 0/X
disable/enable the display of every Xth point's principal curvatures as lines (default disabled)

.TP 5
\-pc_scale X
resize the principal curvatures vectors size to X (default 0.02)


.SH SEE ALSO

.TP
.B Home Page
http://www.pointclouds.org/

.SH AUTHOR

Willow Garage, Inc. and Open Perception, Inc.