I used Skanect to scan my room down. The .ply file generated is like this:
0.614557 -0.0194625 -0.305274 -0.127814 -0.551592 0.824263 100 113 96
0.614418 -0.019946 -0.305417 -0.127814 -0.551592 0.824263 98 111 96
0.61429 0.00103368 -0.303381 0.0386538 -0.603242 0.796621 104 107 95
…