def read_ply(filename):
    """ read XYZ point cloud from filename PLY file """
    plydata = PlyData.read(filename)
    pc = plydata['vertex'].data
    pc_array = np.array([[x, y, z] for x, y, z in pc])
    return pc_array
 read XYZ point cloud from filename PLY file 
visualizer/pc_utils.py