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title: PCDLoader category: Addons layout: docs

PCDLoader

A loader for the Point Cloud Data (PCD) format.

PCDLoader supports ASCII and (compressed) binary files as well as the following PCD fields:

• x y z
• rgb
• normal_x normal_y normal_z
• intensity
• label

Code Example

const loader = new PCDLoader();
const points = await loader.loadAsync( './models/pcd/binary/Zaghetto.pcd' );
points.geometry.center(); // optional
points.geometry.rotateX( Math.PI ); // optional
scene.add( points );

Import

PCDLoader is an addon, and must be imported explicitly, see Installation#Addons.

import { PCDLoader } from 'three/addons/loaders/PCDLoader.js';

Constructor

new PCDLoader( manager : LoadingManager )

Constructs a new PCD loader.

manager | The loading manager.
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Properties

.littleEndian : boolean

Whether to use little Endian or not.

Default is true.

Methods

.load( url : string, onLoad : function, onProgress : onProgressCallback, onError : onErrorCallback )

Starts loading from the given URL and passes the loaded PCD asset to the onLoad() callback.

url | The path/URL of the file to be loaded. This can also be a data URI.
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onLoad | Executed when the loading process has been finished.
onProgress | Executed while the loading is in progress.
onError | Executed when errors occur.

Overrides: Loader#load

.parse( data : ArrayBuffer ) : Points

Parses the given PCD data and returns a point cloud.

data | The raw PCD data as an array buffer.
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Overrides: Loader#parse

Returns: The parsed point cloud.

Source

examples/jsm/loaders/PCDLoader.js