---
name: "pcl_pcd_viewer"
section: "1"
platform: "linux"
package: "pcl-tools"
version: "1.9.1+dfsg1-10"
release: "Debian 10 (Buster)"
platforms: ["linux"]
url: "https://new.carta.tech/pcl_pcd_viewer"
---

# pcl\_pcd\_viewer(1)

Display point clouds.

## 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.