I need to build a dataset similar to Kitti lidar dataset for training 3d object detection model

### Checklist

- [X] I have searched for [similar issues](https://github.com/isl-org/Open3D-ML/issues).
- [X] I have tested with the [latest development wheel](http://www.open3d.org/docs/latest/getting_started.html#development-version-pip).
- [X] I have checked the [release documentation](http://www.open3d.org/docs/release/) and the [latest documentation](http://www.open3d.org/docs/latest/) (for `master` branch).

### My Question

I need to build a dataset similar to the Kitti lidar dataset for training the 3d object detection model.
How to convert my ply point cloud data into the same format as kitti?
Is there any tool for labeling the data in a way similar to kitti to use the similar pipeline of training?
Thanks for your help and support