The target ply file should save surfel properties to:
property float x
property float y
property float z
property ushort label
property float nx
property float ny
property float nz
property uchar red
property uchar green
property uchar blue
[optional] property float radius
RGB and normal values are optional.
Eigen3
mkdir build; cd build; cmake ..; make;
Mouse left button: rotation
Mouse right button: height adjustment
Mouse scroll: distance to the object
Mouse scroll button: translation
Esc: exit
c: show grid