code: def asl_to_pcd(folder_name):
      pattern = re.compile("PointCloud(\d*).csv")
  
      for filename in os.listdir(folder_name):
          matched_string = pattern.match(filename)
          full_filename = folder_name + "/" + filename
          if matched_string:
              points = []
              with open(full_filename) as csv_cloud:
                  csv_reader = csv.reader(csv_cloud, delimiter=",")
                  line = 0
                  out_filename = (
                      folder_name
                      + "/"
                      + "PointCloud"
                      + matched_string.group(1)
                      + ".pcd"
                  )
                  for row in csv_reader:
                      if line != 0:
                          points.append(
                              [
                                  float(row[1]),
                                  float(row[2]),
                                  float(row[3]),
                              ]
                          )
                      else:
                          line = line + 1
              with open(out_filename, "w") as out_file:
                  out_file.write(
                      "# .PCD v.7 - Point Cloud Data file format\nVERSION 0.7\nFIELDS x y z\nSIZE 4 4 4\nTYPE F F F\nCOUNT 1 1 1\nWIDTH "
                      + str(len(points))
                      + "\nHEIGHT 1\nVIEWPOINT 0 0 0 1 0 0 0\nPOINTS "
                      + str(len(points))
                      + "\nDATA ascii"
                  )
                  for point in points:
                      out_file.write(
                          "\n"
                          + str(point[0])
                          + " "
                          + str(point[1])
                          + " "
                          + str(point[2])
                      )
  
imports: import gdown
  import os
  import os.path
  import logging
  import requests
  import glob
  import re
  import sys
  import csv
  from zipfile import ZipFile
  from torch_points3d.datasets.registration.basetest import BasePCRBTest
  from torch_points3d.datasets.base_dataset import BaseDataset
  from torch_points3d.datasets.registration.base_siamese_dataset import BaseSiameseDataset
  from torch_points3d.datasets.registration.basetest import Base3DMatchTest
  from torch_points3d.datasets.registration.base_siamese_dataset import GeneralFragment
  from torch_points3d.metrics.registration_tracker import FragmentRegistrationTracker
  from torch_points3d.datasets.registration.utils import files_exist
  from torch_points3d.datasets.registration.utils import makedirs
label_desc: Use image node_id 1 for calling a global function with example usage: asl_to_pcd(folder_name) without return types