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	<title>PCDLoader - Three.js Docs</title>
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		<p class="inheritance" translate="no"><a href="Loader.html">Loader</a> → </p>
	<h1 translate="no">PCDLoader</h1>
		<section>
			<header>
				<div class="class-description"><p>A loader for the Point Cloud Data (PCD) format.</p>
<p>PCDLoader supports ASCII and (compressed) binary files as well as the following PCD fields:</p>
<ul>
<li>x y z</li>
<li>rgb</li>
<li>normal_x normal_y normal_z</li>
<li>intensity</li>
<li>label</li>
</ul></div>
				<h2>Code Example</h2>
				<div translate="no"><pre><code class="language-js">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 );
</code></pre></div>
			</header>
			<article>
				<h2 class="subsection-title">Import</h2>
				<p><span translate="no">PCDLoader</span> is an addon, and must be imported explicitly, see <a href="https://threejs.org/manual/#en/installation" target="_blank">Installation#Addons</a>.</p>
				<pre><code class="language-js">import { PCDLoader } from 'three/addons/loaders/PCDLoader.js';</code></pre>
				<div class="container-overview">
					<h2>Constructor</h2>
					<h3 class="name name-method" id="PCDLoader" translate="no">new <a href="#PCDLoader">PCDLoader</a><span class="signature">( manager : <span class="param-type">LoadingManager</span> )</span> </h3>
					<div class="method">
						<div class="description">
							<p>Constructs a new PCD loader.</p>
						</div>
						<table class="params">
							<tbody>
								<tr>
									<td class="name"><code>manager</code></td>
									<td class="description last"><p>The loading manager.</p></td>
								</tr>
							</tbody>
						</table>
					</div>
				</div>
				<h2 class="subsection-title">Properties</h2>
				<div class="member">
					<h3 class="name" id="littleEndian" translate="no">.<a href="#littleEndian">littleEndian</a><span class="type-signature"> : boolean</span> </h3>
					<div class="description">
						<p>Whether to use little Endian or not.<br/>Default is <code>true</code>.</p>
					</div>
				</div>
				<h2 class="subsection-title">Methods</h2>
					<h3 class="name name-method" id="_getDataView" translate="no">.<a href="#_getDataView">_getDataView</a><span class="signature">( dataview : <span class="param-type">DataView</span>, offset : <span class="param-type">number</span>, type : <span class="param-type">'F' | 'U' | 'I'</span>, size : <span class="param-type">number</span> )</span><span class="type-signature"> : number</span> </h3>
					<div class="method">
						<div class="description">
							<p>Get dataview value by field type and size.</p>
						</div>
						<table class="params">
							<tbody>
								<tr>
									<td class="name"><code>dataview</code></td>
									<td class="description last"><p>The DataView to read from.</p></td>
								</tr>
								<tr>
									<td class="name"><code>offset</code></td>
									<td class="description last"><p>The offset to start reading from.</p></td>
								</tr>
								<tr>
									<td class="name"><code>type</code></td>
									<td class="description last"><p>Field type.</p></td>
								</tr>
								<tr>
									<td class="name"><code>size</code></td>
									<td class="description last"><p>Field size.</p></td>
								</tr>
							</tbody>
						</table>
						<dl class="details">
							<dt class="tag-returns"><strong>Returns:</strong> Field value.</dt>
						</dl>
					</div>
					<h3 class="name name-method" id="load" translate="no">.<a href="#load">load</a><span class="signature">( url : <span class="param-type">string</span>, onLoad : <span class="param-type">function</span>, onProgress : <span class="param-type">onProgressCallback</span>, onError : <span class="param-type">onErrorCallback</span> )</span> </h3>
					<div class="method">
						<div class="description">
							<p>Starts loading from the given URL and passes the loaded PCD asset
to the <code>onLoad()</code> callback.</p>
						</div>
						<table class="params">
							<tbody>
								<tr>
									<td class="name"><code>url</code></td>
									<td class="description last"><p>The path/URL of the file to be loaded. This can also be a data URI.</p></td>
								</tr>
								<tr>
									<td class="name"><code>onLoad</code></td>
									<td class="description last"><p>Executed when the loading process has been finished.</p></td>
								</tr>
								<tr>
									<td class="name"><code>onProgress</code></td>
									<td class="description last"><p>Executed while the loading is in progress.</p></td>
								</tr>
								<tr>
									<td class="name"><code>onError</code></td>
									<td class="description last"><p>Executed when errors occur.</p></td>
								</tr>
							</tbody>
						</table>
						<dl class="details">
							<dt class="tag-overrides"><strong>Overrides:</strong> <a href="Loader.html#load">Loader#load</a></dt>
						</dl>
					</div>
					<h3 class="name name-method" id="parse" translate="no">.<a href="#parse">parse</a><span class="signature">( data : <span class="param-type">ArrayBuffer</span> )</span><span class="type-signature"> : <a href="Points.html">Points</a></span> </h3>
					<div class="method">
						<div class="description">
							<p>Parses the given PCD data and returns a point cloud.</p>
						</div>
						<table class="params">
							<tbody>
								<tr>
									<td class="name"><code>data</code></td>
									<td class="description last"><p>The raw PCD data as an array buffer.</p></td>
								</tr>
							</tbody>
						</table>
						<dl class="details">
							<dt class="tag-overrides"><strong>Overrides:</strong> <a href="Loader.html#parse">Loader#parse</a></dt>
						</dl>
						<dl class="details">
							<dt class="tag-returns"><strong>Returns:</strong> The parsed point cloud.</dt>
						</dl>
					</div>
				<h2 class="subsection-title">Source</h2>
				<p>
					<a href="https://github.com/mrdoob/three.js/blob/master/examples/jsm/loaders/PCDLoader.js" target="_blank" rel="noopener" translate="no">examples/jsm/loaders/PCDLoader.js</a>
				</p>
			</article>
		</section>
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