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STL is a mesh format, meaning that your vertices must be organized in triangular surfaces (3 vertices per surface) before being able to export them. Going from cloud of points to surface is a tricky thing. The easiest thing I can recommend is to export your points in a format compatible with Meshlab (www.meshlab.org) and use Meshlab to convert your cloud of points into a mesh. Then export from meshlab into a .STL file.
You can use the 30-day free trial Haro3D library (download using VIPM) to export the cloud of points to a .XYZ or .PLY file.