ply格式点云读取及可视化

#include <pcl/io/ply_io.h>
#include <pcl/visualization/pcl_visualizer.h>

int main (int argc, char** argv) {
  pcl::PolygonMesh mesh;
  if (pcl::io::loadPLYFile("/home/alan/draco/testdata/bun_zipper.ply", mesh) == -1) {
    std::cerr << "can't load point cloud file" << std::endl;
    return -1;
  }

  boost::shared_ptr<pcl::visualization::PCLVisualizer> viewer(new pcl::visualization::PCLVisualizer("cloud"));
  viewer->addPolygonMesh(mesh, "mesh");

  while(!viewer->wasStopped()) {
    viewer->spinOnce();
  }
  return 0;
}

素材：https://github.com/google/draco/tree/master/testdata 

ply 转 pcd ?

pcd 转 ply ?