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.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.
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