Loader →

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.

Properties

.littleEndian : boolean

Whether to use little Endian or not.
Default is true.

Methods

._getDataView( dataview : DataView, offset : number, type : 'F' | 'U' | 'I', size : number ) : number

Get dataview value by field type and size.

dataview

The DataView to read from.
offset

The offset to start reading from.
type

Field type.
size

Field size.
Returns: Field value.

.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.
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.
Overrides: Loader#parse
Returns: The parsed point cloud.

Source

examples/jsm/loaders/PCDLoader.js