It is a lightweight and powerful point cloud visualization software, which supports PCD, ply, Las etc., easily opens massive point cloud data, supports multi-mode and multi field rendering for point cloud and convenient query and measurement of points, which can be applied to surveying and mapping, high-precision map, SLAM and other fields.
一款轻量而功能强大的点云可视化软件，支持pcd, ply, las等多种格式，轻松打开海量点云数据，支持多方式多字段渲染点云，对点进行方便的查询和量测，可应用于测绘、高精地图、SLAM等领域。
https://blog.csdn.net/Jacky_546287052/article/details/118074205?spm=1001.2014.3001.5502
P/p Pan quickly/slowly 使平移速度变快/变慢
R/r Rotate quickly/slowly 使旋转速度变快/变慢
Z/z Zoom quickly/slowly 使缩放速度变快/变慢
Shift + r Start/Stop auto rotating 开启/停止 自动旋转
S/s Show points bigger/smaller 使点显示变大/变小
Alt + X snap a picture for current window 截图
H Rotate horizontally only (i.e. disable rotate vertically) 仅允许水平旋转（即禁用竖直旋转）
V Rotate verticaly only (i.e. disable rotate horizontally) 仅允许竖直旋转（即禁用水平旋转）
Alt + right_button_press on LayerTree space : create folder item. This can be used when there is no free space for creating new tree items.
Layer Tree操作空间被占满时，可以在点击鼠标右键的同时按住Alt键，就可以弹出”Add Folder”菜单选项了。
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LAS 1.2 and any format that obey PCL PCD/PLY format files can be loaded and visualization;
LAS 1.2和任何满足PCL PCD/PLY 格式规范的点云文件都可以被加载和显示； -
You can render the point cloud as any field conveniently；
可以方便地按任意字段渲染点云； -
For a given field, multiple rendering styles are supported, including color table, random color and continuous color;
对指定的字段，提供了多种渲染方式，包括颜色表、随机色和连续色； -
Edit for color table is supported;
支持编辑颜色表； -
Query for point coordinate and measure for distance between two points are supported;
支持对点的坐标查询和点间距离的量测； -
Provides a MAGNIFIER tool to take a closer obsveration to a specific location, and tool can also used to selected a roaming center for the scene;
提供了一个放大镜工具对指定点观看，这个工具同时也可用来指定场景的漫游中心点; -
Filter by range is supported (can be found named "Beyond Strategy" in historgam window), you can show points only in a specific range, e.g. filter by elevation， filter by timestamps etc.
支持按范围过滤显示的点云(直方图控件中的"Beyond Strategy"选项)，比如可以按高程过滤、按时间戳过滤。 -
It is supported to show mapping result with a pose file. You can load the pose file before loading point cloud files.
Pose file format:
frame_id timestamp x y z qx qy qz qw
frame_id: the base_name of the pcd file (e.g 1.pcd, the base_name is 1)
it is suggested that the base_name name after the id or timestamp.
timestamp: time stamp of the point cloud
x, y, z : position
qx, qy, qz, qw: normalized quaternion
There is a demo pose file in test_data folder in the installation path.支持按pose显示点云拼接效果。在加载单帧点云文件前，可以先加载pose文件以显示点云拼接效果。
Pose 文件的格式：
frame_id timestamp x y z qx qy qz qw
在安装目录的test_data文件夹下有一个样例文件。
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