def METHOD_NAME(pcd, voxel_size):
    pcd_down = pcd.voxel_down_sample(voxel_size)
    pcd_down.estimate_normals(
        o3d.geometry.KDTreeSearchParamHybrid(radius=voxel_size * 2.0,
                                             max_nn=30))
    pcd_fpfh = o3d.pipelines.registration.compute_fpfh_feature(
        pcd_down,
        o3d.geometry.KDTreeSearchParamHybrid(radius=voxel_size * 5.0,
                                             max_nn=100),
    )
    return (pcd_down, pcd_fpfh)