Visualization of ply point clouds

The specific ply point cloud format is as follows:

(1) Non-color point clouds

Ply
Formats 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) color point clouds

Ply
Formats 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 81 0.924488 70

++

Visualized results: