text: import numpy as np
  import open3d as o3d
  
  # Read .ply file
  #input_file = "pumpkin.ply"
  #pcd = o3d.io.read_point_cloud(input_file) # Read the point cloud
  
  # Visualize the point cloud within open3d
  #o3d.draw_geometries([pcd]) 
  
  # Convert open3d format to numpy array
  # Here, you have the point cloud in numpy format. 
  #point_cloud_in_numpy = np.asarray(pcd.points)
  
  
  print("Load a ply point cloud, print it, and render it")
  pcd = o3d.io.read_point_cloud("/home/ms/Desktop/Point_Cloud_Monjoy/3_Downsample_pointCloud/dataset/semantic_downsampled/9059_points/new_modified.pcd")
  #print(pcd)
  #print(np.asarray(pcd.points))
  downpcd = pcd.voxel_down_sample(voxel_size=0.8)
  print(np.asarray(downpcd.points))
  o3d.visualization.draw_geometries([downpcd],
                                    zoom=0.3412,
                                    front=[0.4257, -0.2125, -0.8795],
                                    lookat=[2.6172, 2.0475, 1.532],
                                    up=[-0.0694, -0.9768, 0.2024])
  