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Hello @LEE,

You can use open3D Library for that I think that is the best. You also can use a sample code snippet that is below,

import open3d as o3d 
import numpy as np

point_cloud = []
for i in glob.glob("dataset/3.6/*/*.pcd"):  # * means inner directory
    pcd = o3d.io.read_point_cloud(i)
    a = np.array(pcd.points)
    point_cloud.append(a)

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