Function read_cloud 

pub fn read_cloud(
    file: &str,
    colors: &mut impl ToOutputArray,
    normals: &mut impl ToOutputArray,
) -> Result<Mat>

Parameters

• file: Filename with extension. Supported formats: PLY, XYZ, OBJ and STL.
• colors: Used by PLY and STL formats only.
• normals: Used by PLY, OBJ and STL formats only.

Returns

A mat containing the point coordinates with depth CV_32F or CV_64F and number of channels 3 or 4 with only 1 row.

C++ default parameters

• colors: noArray()
• normals: noArray()