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You should create a node that opens the file and publish the point cloud to a PointCloud2 topic. Then, visualize this topic in RViz.

Yo could read the file with pcl::io::loadPLYFile to obtain a pcl::PointCloud<pcl::PointXYZRGB>, then transform it and publish the result.

Best

You should create a node that opens the file and publish the point cloud to a PointCloud2 topic. Then, visualize this topic in RViz.

Yo could read the file with pcl::io::loadPLYFile to obtain a pcl::PointCloud<pcl::PointXYZRGB>, then transform it and publish the result.

Best

You should create a node that opens the file and publish the point cloud to a PointCloud2 topic. Then, visualize this topic in RViz.

Yo You could read the file with pcl::io::loadPLYFile to obtain a pcl::PointCloud<pcl::PointXYZRGB>, then transform it and publish the result.

Best

You should create a node that opens the file and publish the point cloud to a PointCloud2 topic. Then, visualize this topic in RViz.

You could read the file with pcl::io::loadPLYFile to obtain a pcl::PointCloud<pcl::PointXYZRGB>, then transform it and publish the result.

Best