MeshLab Reviews

Great software! Supports vertex coloring, like Meshmixer. Available in Ubuntu since Precise 12.04

about MeshLab and meshmixer, Blender · · Helpful Not helpful

Until Blender supports vertex coloring in .OBJ files, like the models produced by Meshmixer, MeshLab seems like the tool to use, at least to convert to something like PLY format that Blender probably does support.

See e.g. How can I include vertex color information in .OBJ files? - Game Development Stack Exchange