https://github.com/daavoo/pyntcloud

You can access most of pyntcloud's functionality from its core class: PyntCloud.

With PyntCloud you can perform complex 3D processing operations with minimum lines of code. For example you can:

Load a point cloud from disk. Add 3 new scalar fields by converting RGB to HSV. Build a grid of voxels from the point cloud. Build a new point cloud keeping only the nearest point to each occupied voxel center. Save the new point cloud.

python-plyfile : numpy를 ply로 변환??