pcl_viewer

y2-6:MacOS yamamoto$ ./pcl_viewer
The viewer window provides interactive commands; for help, press ‘h’ or ‘H’ from within the window.
Syntax is: ./pcl_viewer <file_name 1..N>.<pcd or vtk> <options>
where options are:
-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)
-shading X = rendered surface shading (‘flat’ (default), ‘gouraud’, ‘phong’)
-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)

-immediate_rendering 0/1 = use immediate mode rendering to draw the data (default: disabled)
Note: the use of immediate rendering will enable the visualization of larger datasets at the expense of extra RAM.
See http://en.wikipedia.org/wiki/Immediate_mode for more information.
-vbo_rendering 0/1 = use OpenGL 1.4+ Vertex Buffer Objects for rendering (default: disabled)
Note: the use of VBOs will enable the visualization of larger datasets at the expense of extra RAM.
See http://en.wikipedia.org/wiki/Vertex_Buffer_Object for more information.

-use_point_picking = enable the usage of picking points on screen (default disabled)
(Note: for multiple .pcd files, provide multiple -{fc,ps,opaque} parameters; they will be automatically assigned to the right file)