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
property float quality
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