How to display the pointcloud?

[nvidia-ai-iot]

How to display the pointcloud?

[leif-FLNV]

when I run the "./demo [*.pcd]" in the directory of cuda-icp, just got the result:
GPU has cuda devices: 1
----device id: 0 info----
GPU : Xavier
Capbility: 7.2
Global memory: 31918MB
Const memory: 64KB
SM in a block: 48KB
warp size: 32
threads in a block: 1024
block dim: (1024,1024,64)
grid dim: (2147483647,65535,65535)

Loaded 7000 data points for P with the following fields: x y z
Loaded 7000 data points for Q with the following fields: x y z
iter.Maxiterate 0
iter.threshold 1e-12
iter.acceptrate 1

Target rigid transformation : cloud_in -> cloud_icp
Rotation matrix :
| 0.923880 -0.382683 0.000000 |
R = | 0.382683 0.923880 0.000000 |
| 0.000000 0.000000 1.000000 |
Translation vector :
t = < 0.000000, 0.000000, 0.200000 >

------------checking CUDA ICP(GPU)----------------
CUDA ICP by Time: 0.797888 ms.
CUDA ICP fitness_score: 0.777453
matrix_icp calculated Matrix by Class ICP
Rotation matrix :
| 1.000000 0.000000 -0.000000 |
R = | -0.000000 1.000000 0.000000 |
| -0.000000 0.000000 1.000000 |
Translation vector :
t = < -0.000000, 0.000000, -0.000000 >

------------checking PCL ICP(CPU)----------------
PCL icp.align Time: 38.2758 ms.
has converged: 1 score: 0.651369
CUDA ICP fitness_score: 0.651369
transformation_matrix:
0.999905 0.00279406 0.0134922 0.0161865
-0.00265722 0.999945 -0.010151 0.00527596
-0.0135198 0.0101141 0.999858 0.0133578
0 0 0 1

------------checking PCL GICP(CPU)----------------
PCL Gicp.align Time: 144.663 ms.
has converged: 1 score: 0.541552
transformation_matrix:
0.99874 0.00468762 0.0499603 -0.0427716
-0.00344507 0.999683 -0.0249281 0.0265501
-0.0500613 0.0247246 0.99844 0.148036
0 0 0 1

so,I really want to know how to display the result,just like https://developer.nvidia.com/zh-cn/blog/cuda-pcl-1-0-jetson/

There will be three *.pcd: cuda.pcd, ICP.pcd, GICP.pcd in the same dir after "./demo".
You can use the command below to install "pcl_viewer" which can be used to show *.pcd
sudo apt-get install pcl-tools