A loader for loading a .pcd resource.
Point Cloud Data is a file format for Point Cloud Library.
Loader support ascii and binary. Compressed binary files are not supported.


// instantiate a loader var loader = new v3d.PCDLoader(); // load a resource loader.load( // resource URL 'pointcloud.pcd', // called when the resource is loaded function(mesh) { scene.add(mesh); }, // called when loading is in progresses function(xhr) { console.log((xhr.loaded / xhr.total * 100) + '% loaded'); }, // called when loading has errors function(error) { console.log('An error happened'); } ); webgl_loader_pcd


PCDLoader(manager : LoadingManager)

manager — The loadingManager for the loader to use. Default is v3d.DefaultLoadingManager.

Creates a new PCDLoader.



Default value is true.


.load (url : String, onLoad : Function, onProgress : Function, onError : Function) : null

url — A string containing the path/URL of the .pcd file.
onLoad — (optional) A function to be called after loading is successfully completed. The function receives loaded Object3D as an argument.
onProgress — (optional) A function to be called while the loading is in progress. The argument will be the XMLHttpRequest instance, which contains total and loaded bytes.
onError — (optional) A function to be called if an error occurs during loading. The function receives the error as an argument.

Begin loading from url and call onLoad with the parsed response content.

.parse (data : Arraybuffer,url : String) : Object3D

data — The binary structure to parse.

url — The file name or file url.

Parse an pcd binary structure and return an Object3D.
The object is converted to Points with a BufferGeometry and a PointsMaterial.

.setPath (path : String) : PCDLoader

path — Base path.

Set the base path for the file.


For more info on how to obtain the source code of this module see this page.