PCDIO
PointCloud File Reader in C++ and Python
Usage in C++
// read .ply, .stl, .xyzm
READXXX(const std::string& filename,
std::vector<double>& points,
std::vector<double>& normals,
std::vector<double>& colors)Usage in Python
import pypcdio
pcd = pypcdio.pcdread("filename")
pcd.points # points or vertices
pcd.normals # normals
pcd.colors # RGB values