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bcftools consensus (version 1.15.1+galaxy4)
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It allows to set positions with no supporting evidence to N (or any other character)
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bcftools consensus plugin

Create consensus sequence by applying VCF variants to a reference fasta file.

http://samtools.github.io/bcftools/bcftools.html#consensus

https://github.com/samtools/bcftools/wiki

The option to set the new consensus' FASTA ID from the name of the VCF is provided by post-processing the bcftools consensus output. It is primarily intended for use when the VCF is coming from a list collection where the elements of the list are named meaningfully (e.g. named after sample names). This is useful when consensus sequences are being prepared for, for example, feeding a multiple sequence alignment to a phylogeny program.