text: import numpy as np
  import open3d
  
  if __name__ == "__main__":
  
    print("Load a ply point cloud, print it, and render it")
    pcd = open3d.read_point_cloud('/home/heider/Datasets/pointclouds/office.ply')
    print(pcd)
    print(np.asarray(pcd.points))
    # open3d.draw_geometries([pcd])
  
    print("Downsample the point cloud with a voxel of 0.05")
    downsampled = open3d.voxel_down_sample(pcd, voxel_size=0.1)
    # open3d.draw_geometries([downpcd])
  
    print("Recompute the normal of the downsampled point cloud")
    open3d.estimate_normals(downsampled, search_param=open3d.KDTreeSearchParamHybrid(
        radius=0.1, max_nn=30))
    open3d.draw_geometries([downsampled])
  