GUI instruction

Button	Function
Space	pause/resume
F1	switch to single color map visualization
F2	switch to frame-wise random color map visualization
F3	switch to elevation based map visualization
F4	switch to intensity based map visualization [gray colormap]
F5	switch to intensity based map visualization [jet colormap]
F6	turn on/off the visualization of current scan in scan window
F7	turn on/off the visualization of the pose graph (nodes)
F8	turn on/off the visualization of local feature map in map window
F9	turn on/off the visualization of dense point cloud in map window
F10	turn on/off the visualization of registration feature points in feature window
F11	turn on/off the visualization of pairwise registration in registration window
F12	turn on/off the visualization of the pose graph (edges)
T	turn on/off the visualization of ground truth trajectory (if available)
N	turn on/off the visualization of normal/primary vectors in feature window
S	turn on/off the visualization of distance (30,60,90,120m) circles in scan, feature windows
U	turn on/off the visualization of color bar
J	take screenshoot
R	reset window scale
Y	reset window persepective
K	enable jump to X frame mode (only available in slam replay procedure)
L	enable pausing at the found loop closure
F	fly to point
G	turn on/off the plotting scale
V	turn on/off the visualization of vertex keypoints in map and feature windows
O	switch between persepective/orthogonal projection
M	refreshing (to make the visualization more fluent)
Up	decrease the downsampling ratio (display denser points)
Down	increase the downsampling ratio (display sparser points)
Left	decrease the brightness of the window background
Right	increase the brightness of the window background
+	increase point size
-	decrease point size
H	pause and show the help (instructions) in the terminal