diff --git a/source/RobotAPI/libraries/core/visualization/DebugDrawerTopic.h b/source/RobotAPI/libraries/core/visualization/DebugDrawerTopic.h
index d759c946d5a85d6a2aa11b9c84c4d5abb6f2e5fc..1709bd658f29d53c6482aa5fedfdc2f7d6f93369 100644
--- a/source/RobotAPI/libraries/core/visualization/DebugDrawerTopic.h
+++ b/source/RobotAPI/libraries/core/visualization/DebugDrawerTopic.h
@@ -44,7 +44,7 @@ namespace armarx
      * @endcode
      *
      * The `DebugDrawerTopic` allows to set a layer on constructor or via
-     * `setLayer()`. This layer will be used if none is passed to a drawing 
+     * `setLayer()`. This layer will be used if none is passed to a drawing
      * method. If no layer is passed or set, `DebugDrawerTopic::DEFAULT_LAYER`
      * is used.
      *
@@ -195,6 +195,9 @@ namespace armarx
             DrawColor colorFloor { .1f, .1f, .1f, 1 };
 
             DrawColor colorPointCloud { .5, .5, .5, 1. };
+
+            // Default value of DebugDrawerColoredPointCloud etc.
+            float pointCloudPointSize = 3.0f;
         };
         static const Defaults DEFAULTS;
 
@@ -478,7 +481,7 @@ namespace armarx
             const VisuID& id,
             const PointCloudT& pointCloud,
             const DrawColor& color = DEFAULTS.colorPointCloud,
-            float pointSize = 1.0f,
+            float pointSize = DEFAULTS.pointCloudPointSize,
             bool ignoreLengthScale = false);
 
         /**
@@ -491,7 +494,7 @@ namespace armarx
         void drawPointCloudRGBA(
             const VisuID& id,
             const PointCloudT& pointCloud,
-            float pointSize = 1.0f,
+            float pointSize = DEFAULTS.pointCloudPointSize,
             bool ignoreLengthScale = false);
 
         /**
@@ -508,7 +511,7 @@ namespace armarx
             const VisuID& id,
             const PointCloudT& pointCloud,
             const ColorFuncT& colorFunc,
-            float pointSize = 1.0f,
+            float pointSize = DEFAULTS.pointCloudPointSize,
             bool ignoreLengthScale = false);