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how to convert from .pcd to .npy file

Need to convert files from .pcd to .npy but am not sure how to do so ... any help or direction of what tools/repository to use for the process would be appreciated. Also any warnings in the conversions. We are following the https://github.com/BichenWuUCB/SqueezeSeg repository and got it to display demo.py but we have our own data in .pcd format that does not work with the code, so we are thinking we need to convert to .npy file.