To launch the viewer, run nodar_viewer command in the terminal.
When you run the viewer for the first time, the application opens in its default layout:
When you modify the layout by resizing, opening, or closing viewers, the application will save your changes to ~/.config/viewer_config.yaml upon closing with the close button.
In the View menu, you can open or close the left properties panel. You can also use the Ctrl+Alt+P shortcut.
In the Layouts menu, you can select from several predefined UI layouts. The Base layout (shown in the image above) is selected by default.
The Viewers menu lets you open data visualizers. The image above shows four open viewers: two Rectified Image viewers, one Colorized Depth Map, and one Point Cloud.
The Help > About menu opens a window that displays the application's version number and lists all third-party libraries used.