Cloud Manipulation

  • It was a simple task given by my senior the first time I used the Point Cloud Library. I just want to display it to mark my PCL virgin :)
  • The task is:
    • Read point cloud information from two .ply files.
    • Rotate the two clouds to a normal visual angle.
    • Combine the two clouds and export the new clouds to .ply files.

Initial view angle

The RGB images of the two clouds are shown below:


After rotation and combination, the final point cloud is obtained.

Implementation details

PCL modules mainly used

  • I/O (read/write .ply files)
  • Transform
  • Visualization


  • CMake
  • PCL and its dependencies, which are quite a lot…
  • macOS Mojave