ply点云具体格式如下：

（1）非彩色点云

ply

format ascii 1.0

element vertex 9667

property float x

property float y

property float z

end_header

497237.112000 3904845.386000 1139.977000

497331.254000 3904904.174000 1148.255000

... ... 

498247.407000   3904889.411000   1162.406000

（2）彩色点云

ply

format ascii 1.0

element vertex 6002

property float x

property float y

property float z

property float nx

property float ny

property float nz

property uchar diffuse_red

property uchar diffuse_green

property uchar diffuse_blue

end_header

-14.6388 11.1257 4.151 -0.211109 0.0658741 0.97524 77 99 71

-14.6797 11.1037 4.15805 -0.227273 -0.205328 0.951939 70 84 69

... ... 

-14.6212 11.0896 4.17834 0.34986 0.151395 0.924488 81 106 70

+++++++++++++++++++++

可视化结果：