Readable header
A PCD header declares version, fields, field sizes and types, width, height, point count, and whether the payload is ASCII, binary, or binary compressed.
Point Cloud Data format
PCD Viewer — Open Point Cloud Data Files Online
PCD is the Point Cloud Library format for storing point records and their declared fields. WolkeViz opens supported PCD files locally in the browser so you can verify geometry, field names, colour, intensity, orientation, and scale before using a PCL or robotics pipeline.
At a glance
What to know before opening the file
More than XYZ
PCD can contain XYZ positions plus normal vectors, intensity, RGB or RGBA colours, ring IDs, timestamps, and custom fields when the producing system writes them.
Local validation
Seeing both geometry and available fields can expose a wrong export, missing colour channel, invalid coordinates, or unexpected scale. The selected file stays on your computer and no account is required.
Practical workflow
Verify a PCD file before using it
- Choose the PCD file in WolkeViz.
- Inspect the listed fields and fit the cloud to verify the approximate scale and orientation.
- Try RGB or intensity colouring when those dimensions exist; otherwise compare a height or single-colour view.
- Measure a known feature or isolate an area before sending the file into a downstream pipeline.
Technical notes
What the PCD header tells a viewer
PCD does not assume every point has the same attributes. The header defines named fields together with each field's byte size, type, and count, allowing a reader to compute the record layout before it reads the payload.
ASCII PCD is easy to inspect but can be large. Binary PCD is more compact and faster to read, while binary-compressed PCD packs field data for storage efficiency. A viewer must honour the declared layout instead of assuming that every record is simply three floating-point values.
Colour is often represented as a packed rgb or rgba field, and intensity may use different numeric ranges depending on the sensor. A valid file can therefore look different across colour modes without either view being wrong.
Questions and answers
Common questions
Can I view a PCD file online?
Yes. For supported files, a browser viewer can open a local PCD file and show its geometry and fields without requiring a desktop viewer installation.
Why is RGB unavailable for my PCD file?
The PCD header may not include an rgb or rgba field, or the stored field may not decode as expected. Intensity, height, or a single colour can still be useful alternatives.
What is the difference between PCD and LAS?
PCD is a flexible point-cloud format commonly used with PCL and robotics workflows. LAS/LAZ are established LiDAR exchange formats with standardized point-record definitions and geospatial conventions.
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