edge extraction from 3D point cloud

Hi, I have a point cloud data in .txt file. I would like to extract straight lines from the point cloud and want to plot them. Could you please assist?

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How big is the point cloud (i.e., how many point samples)? And do you know if the points have been assigned normals by the scanner?
Hi Anton, the file size is 15MB and have around 5,00,000 points in that. Yes, the points have been assigned the normals by the scanner. Thanks for the response.
The reason I was asking is because it is much easier to identify geometric features (e.g., line segments) from meshes than point clouds; and normals can facilitate surface reconstruction. However, there are methods that can extract feature lines directly from point clouds (e.g., see [1] and references therein). Unfortunately, I do not have any first hand experience implementing these methods or know of any open-source implementations. I can help you with surface reconstruction, if that's the route you want to go.
[1] Lin et al., 2015, 'Line segment extraction for large scale unorganized point clouds', ISPRS Journal of Photogrammetry and Remote Sensing

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