Converts mesh into a point cloud - accepts .pkl,.off,.xaml,.obj etc.

requirements.txt

docopt==0.6.2
trimesh==2.10.18

topc.py

"""Converts a mesh into point cloud.

This file, as a script, will convert a mesh binary into .npy. It is written for
python3, but if the output directory exists, then remove L28 to use python2.


Usage:
    topc.py <input_path> [options]

Options:
    --n=<n>         Number of points to sample [default: 3000]
    --out=<out>     Root of output directory [default: ./out]
    --scale=<r>     Largest distance from origin, to scale to [default: 250]
"""

import docopt
import trimesh
import os
import numpy as np
import glob

from trimesh.sample import sample_surface


def main():
    """Passes command line arguments into utility function."""
    arguments = docopt.docopt(__doc__)
    input_path = arguments['<input_path>']
    output_dir = arguments['--out']
    scale = float(arguments['--scale'])
    n = int(arguments['--n'])
    os.makedirs(output_dir, exist_ok=True)

    for path in glob.iglob(input_path):
        mesh = trimesh.load(path)
        mesh.apply_scale(scale/mesh.scale)
        points = sample_surface(mesh, n)
        points -= points.mean(axis=0)
        output_path = os.path.join(output_dir, os.path.basename(path))
        np.save(output_path, points)


if __name__ == '__main__':
    main()

Hello, can you please tell me if this will convert .pkl files to .pcd? If not, please guide me. Thank you.