diff --git a/example/device/framegrabber/readRealSenseData.cpp b/example/device/framegrabber/readRealSenseData.cpp
index 72da852b0f..eca11b6d35 100644
--- a/example/device/framegrabber/readRealSenseData.cpp
+++ b/example/device/framegrabber/readRealSenseData.cpp
@@ -81,7 +81,7 @@ void usage(const char *name, const char *badparam)
     << std::endl
     << "SYNOPSIS " << std::endl
     << "  " << name
-    << " [--i <directory>]"
+    << " [-i <directory>]"
     << " [-c]"
     << " [-b]"
     << " [-o]"
@@ -89,7 +89,7 @@ void usage(const char *name, const char *badparam)
     << " [--help,-h]"
     << std::endl;
   std::cout << "\nOPTIONS " << std::endl
-    << "  --i <directory>" << std::endl
+    << "  -i <directory>" << std::endl
     << "    Input folder that contains the data to read." << std::endl
     << std::endl
     << "  -c" << std::endl
@@ -191,8 +191,9 @@ bool readData(int cpt, const std::string &input_directory, vpImage<vpRGBa> &I_co
   }
 
   // Read color
-  if (vpIoTools::checkFilename(filename_color))
+  if (vpIoTools::checkFilename(filename_color)) {
     vpImageIo::read(I_color, filename_color);
+  }
 
   // Read raw depth
   std::ifstream file_depth(filename_depth.c_str(), std::ios::in | std::ios::binary);
diff --git a/example/device/framegrabber/saveRealSenseData.cpp b/example/device/framegrabber/saveRealSenseData.cpp
index 5db5e390fa..13b03dde2f 100644
--- a/example/device/framegrabber/saveRealSenseData.cpp
+++ b/example/device/framegrabber/saveRealSenseData.cpp
@@ -60,7 +60,6 @@
 #endif
 
 #include <visp3/core/vpImageConvert.h>
-#include <visp3/core/vpIoException.h>
 #include <visp3/core/vpIoTools.h>
 #include <visp3/core/vpXmlParserCamera.h>
 #include <visp3/gui/vpDisplayGDI.h>
@@ -132,6 +131,10 @@ void usage(const char *name, const char *badparam, int fps)
     << "  --help, -h" << std::endl
     << "    Display this helper message." << std::endl
     << std::endl;
+  std::cout << "\nEXAMPLE " << std::endl
+    << "- Save aligned color + depth + point cloud in data folder" << std::endl
+    << "  " << name << " -s -a -c -d -p -b -o data" << std::endl
+    << std::endl;
 
   if (badparam) {
     std::cout << "\nERROR: Bad parameter " << badparam << std::endl;
@@ -439,10 +442,8 @@ class vpStorageWorker
               }
             }
             else {
-#if defined(VISP_HAVE_PCL) && defined(VISP_HAVE_PCL_IO)
+#if defined(VISP_HAVE_PCL) && defined(VISP_HAVE_PCL_IO) && defined(VISP_HAVE_PCL_COMMON)
               pcl::io::savePCDFileBinary(filename_point_cloud, *pointCloud);
-#elif defined(VISP_HAVE_PCL)
-              throw(vpIoException(vpIoException::fatalError, "Cannot save as pcd files without PCL io module"));
 #endif
             }
           }
@@ -543,7 +544,6 @@ int main(int argc, const char *argv[])
 #endif
 
   vpImage<vpRGBa> I_color(height, width);
-  vpImage<unsigned char> I_gray(height, width);
   vpImage<unsigned char> I_depth(height, width);
   vpImage<uint16_t> I_depth_raw(height, width);
   vpImage<unsigned char> I_infrared(height, width);
@@ -553,22 +553,21 @@ int main(int argc, const char *argv[])
 #else
   vpDisplayGDI d1, d2, d3;
 #endif
-  d1.init(I_gray, 0, 0, "RealSense color stream");
-  d2.init(I_depth, I_gray.getWidth() + 80, 0, "RealSense depth stream");
-  d3.init(I_infrared, I_gray.getWidth() + 80, I_gray.getHeight() + 70, "RealSense infrared stream");
+  d1.init(I_color, 0, 0, "RealSense color stream");
+  d2.init(I_depth, I_color.getWidth() + 80, 0, "RealSense depth stream");
+  d3.init(I_infrared, I_color.getWidth() + 80, I_color.getHeight() + 70, "RealSense infrared stream");
 
   while (true) {
     realsense.acquire((unsigned char *)I_color.bitmap, (unsigned char *)I_depth_raw.bitmap, nullptr, nullptr);
-    vpImageConvert::convert(I_color, I_gray);
     vpImageConvert::createDepthHistogram(I_depth_raw, I_depth);
 
-    vpDisplay::display(I_gray);
+    vpDisplay::display(I_color);
     vpDisplay::display(I_depth);
-    vpDisplay::displayText(I_gray, 20, 20, "Click when ready.", vpColor::red);
-    vpDisplay::flush(I_gray);
+    vpDisplay::displayText(I_color, 20, 20, "Click when ready.", vpColor::red);
+    vpDisplay::flush(I_color);
     vpDisplay::flush(I_depth);
 
-    if (vpDisplay::getClick(I_gray, false)) {
+    if (vpDisplay::getClick(I_color, false)) {
       break;
     }
   }
@@ -683,23 +682,22 @@ int main(int argc, const char *argv[])
 #endif
     }
 
-    vpImageConvert::convert(I_color, I_gray);
     vpImageConvert::createDepthHistogram(I_depth_raw, I_depth);
 
-    vpDisplay::display(I_gray);
+    vpDisplay::display(I_color);
     vpDisplay::display(I_depth);
     vpDisplay::display(I_infrared);
 
     if (!click_to_save) {
-      vpDisplay::displayText(I_gray, 20, 20, "Click to quit.", vpColor::red);
+      vpDisplay::displayText(I_color, 20, 20, "Click to quit.", vpColor::red);
     }
     else {
       std::stringstream ss;
       ss << "Images saved: " << nb_saves;
-      vpDisplay::displayText(I_gray, 20, 20, ss.str(), vpColor::red);
+      vpDisplay::displayText(I_color, 20, 20, ss.str(), vpColor::red);
     }
 
-    vpDisplay::flush(I_gray);
+    vpDisplay::flush(I_color);
     vpDisplay::flush(I_depth);
     vpDisplay::flush(I_infrared);
 
@@ -713,7 +711,7 @@ int main(int argc, const char *argv[])
     }
 
     vpMouseButton::vpMouseButtonType button;
-    if (vpDisplay::getClick(I_gray, button, false)) {
+    if (vpDisplay::getClick(I_color, button, false)) {
       if (!click_to_save) {
         save_queue.cancel();
         quit = true;
diff --git a/modules/gui/src/pointcloud/vpPclViewer.cpp b/modules/gui/src/pointcloud/vpPclViewer.cpp
index a673a2d16c..89794b04f8 100644
--- a/modules/gui/src/pointcloud/vpPclViewer.cpp
+++ b/modules/gui/src/pointcloud/vpPclViewer.cpp
@@ -35,7 +35,7 @@
 #ifndef DOXYGEN_SHOULD_SKIP_THIS
 
 #include <visp3/core/vpConfig.h>
-#if defined(VISP_HAVE_PCL) && defined(VISP_HAVE_PCL_VISUALIZATION) && defined(VISP_HAVE_THREADS)
+#if defined(VISP_HAVE_PCL) && defined(VISP_HAVE_PCL_IO) && defined(VISP_HAVE_THREADS)
 // PCL
 #include<pcl/io/pcd_io.h>
 
diff --git a/tutorial/detection/tag/tutorial-apriltag-detector-live-rgbd-realsense.cpp b/tutorial/detection/tag/tutorial-apriltag-detector-live-rgbd-realsense.cpp
index a5cd897381..6fbe8ae7d6 100644
--- a/tutorial/detection/tag/tutorial-apriltag-detector-live-rgbd-realsense.cpp
+++ b/tutorial/detection/tag/tutorial-apriltag-detector-live-rgbd-realsense.cpp
@@ -27,6 +27,7 @@ int main(int argc, const char **argv)
   int color_id = -1;
   unsigned int thickness = 2;
   bool align_frame = false;
+  bool opt_verbose = false;
 
 #if !(defined(VISP_HAVE_X11) || defined(VISP_HAVE_GDI) || defined(VISP_HAVE_OPENCV))
   bool display_off = true;
@@ -66,6 +67,9 @@ int main(int argc, const char **argv)
     else if (std::string(argv[i]) == "--z_aligned") {
       align_frame = true;
     }
+    else if (std::string(argv[i]) == "--verbose" || std::string(argv[i]) == "-v") {
+      opt_verbose = true;
+    }
     else if (std::string(argv[i]) == "--help" || std::string(argv[i]) == "-h") {
       std::cout << "Usage: " << argv[0]
         << " [--tag_size <tag_size in m> (default: 0.053)]"
@@ -81,7 +85,7 @@ int main(int argc, const char **argv)
 #if (defined(VISP_HAVE_X11) || defined(VISP_HAVE_GDI) || defined(VISP_HAVE_OPENCV))
       std::cout << " [--display_off] [--color <color id>] [--thickness <line thickness>]";
 #endif
-      std::cout << " [--help]" << std::endl;
+      std::cout << " [--verbose,-v] [--help,-h]" << std::endl;
       return EXIT_SUCCESS;
     }
   }
@@ -219,6 +223,11 @@ int main(int argc, const char **argv)
           std::stringstream ss;
           ss << "Tag id " << tags_id[i] << " confidence: " << confidence_index;
           vpDisplay::displayText(I_color2, 35 + i * 15, 20, ss.str(), vpColor::red);
+
+          if (opt_verbose) {
+            std::cout << "cMo[" << i << "]: \n" << cMo_vec[i] << std::endl;
+            std::cout << "cMo[" << i << "] using depth: \n" << cMo << std::endl;
+          }
         }
       }
       //! [Pose from depth map]
diff --git a/tutorial/gui/pcl-visualizer/ClassUsingPclViewer.cpp b/tutorial/gui/pcl-visualizer/ClassUsingPclViewer.cpp
index bcea5937a6..215b37d28b 100644
--- a/tutorial/gui/pcl-visualizer/ClassUsingPclViewer.cpp
+++ b/tutorial/gui/pcl-visualizer/ClassUsingPclViewer.cpp
@@ -1,7 +1,7 @@
 //! \example ClassUsingPclViewer.cpp
 #include "ClassUsingPclViewer.h"
 
-#if defined(VISP_HAVE_PCL) && defined(VISP_HAVE_PCL_VISUALIZATION)
+#if defined(VISP_HAVE_PCL) && defined(VISP_HAVE_PCL_IO)
 // PCL
 #include <pcl/io/pcd_io.h>