import numpy as np # Function to create point cloud file def create_output(vertices, colors, filename): colors = colors.reshape(-1, 3) vertices = np.hstack([vertices.reshape(-1, 3), colors]) np.savetxt(filename, vertices, fmt='%f %f %f %d %d %d') # 必须先写入，然后利用write()在头部插入ply header

采用Python语言编程实现，调用open3d第三方库实现