A method for generating a 5D texture grid data structure from a 3D disordered point cloud, comprising: obtaining a disordered point cloud of a workpiece to be scanned; obtaining a vertex S mn , and establish each point P in the disordered point cloud i with vertex S mn There is a one-to-one correspondence between them; sort the point cloud data, and obtain each point P i Sort by row and sort by column; traverse point cloud data, for any point P i , find P according to the index rules in sorting by row and sorting by column i Neighboring point P j ,P k ,P q ;According to the index relationship, get P i ,P j ,P k ,P q Corresponding vertex S mn , S m,n+1 .S m+1,n , S m+1,n+1 ; Add a quadrangular facet, and set S mn , S m,n+1 .S m+1,n , S m+1,n+1 Add to the vertex position of the quadrangular face and generate a half-sided quadrangular mesh, traverse P i or vertex S mn , get all P i or vertex S mn Corresponding half-sided quadrangular grid, output 5D texture grid data structure. The method is used to grid the unordered point cloud, and the unordered point cloud data is represented based on the data structure of the texture grid, which has a topological structure and can effectively represent the omnidirectional information of the three-dimensional object.