ply点云可视化实现

ply点云具体格式如下：

（1）非彩色点云

ply
format ascii 1.0
element vertex 9667
property float x
property float y
property float z
end_header
497237.112000 3904845.386000 1139.977000
497331.254000 3904904.174000 1148.255000

... ... 

498247.407000   3904889.411000   1162.406000

（2）彩色点云

ply
format ascii 1.0
element vertex 6002
property float x
property float y
property float z
property float nx
property float ny
property float nz
property uchar diffuse_red
property uchar diffuse_green
property uchar diffuse_blue
end_header
-14.6388 11.1257 4.151 -0.211109 0.0658741 0.97524 77 99 71
-14.6797 11.1037 4.15805 -0.227273 -0.205328 0.951939 70 84 69

... ... 
-14.6212 11.0896 4.17834 0.34986 0.151395 0.924488 81 106 70

+++++++++++++++++++++

可视化结果：