PCD Viewer for VS Code
A VS Code extension for previewing Point Cloud Data (PCD) files directly in the editor with 3D visualization and interactive controls.
Features
🎨 Point Cloud Visualization
- 3D Preview: Open any
.pcd file and instantly view it in a 3D viewer powered by Three.js
- Field-based Coloring: Colorize point clouds by any field value (x, y, z, intensity, rgb, rgba, etc.)
- Multiple Colormaps: Choose from 8 different colormaps for visualization:
- Rainbow, Jet, HSV, Hot, Cool, Bone, Ocean, Parula
🕹️ Interactive Controls
- Orbit Navigation: Rotate, pan, and zoom the point cloud using mouse controls
- Left-click + drag: Rotate
- Right-click + drag: Pan
- Scroll: Zoom
- Preset Views: Quick access to standard viewing angles (X+, X-, Y+, Y-, Z+, Z-)
- Center Mode: Toggle between coordinate origin (O) and point cloud center (C) as the rotation pivot
🔍 Point Selection
- Selection Mode: Click the "Select" button to enable point selection
- Point Inspector: View all field values of a selected point in the selection panel
⚙️ Customization
- Point Size: Adjust point size using
+ / - buttons or keyboard shortcuts
- Size Mode: Toggle between perspective-based size and fixed pixel size
- Background Color: Customize background color via VS Code settings
- Reverse Background: Quick toggle to invert background color
📊 Info Panel
- Click the "Info" button to display point cloud metadata:
- File size
- PCD version
- Number of points
- Dimensions (Width × Height)
- Field names and types
- Data format (ascii/binary/binary_compressed)
Keyboard Shortcuts
| Key |
Action |
1 - 9, 0 |
Select field 1-10 for coloring |
` (backtick) |
Reset to default color |
+ / = |
Increase point size |
- |
Decrease point size |
Extension Settings
This extension contributes the following settings:
pcdViewer.backgroundColor: Set the background color of the viewer (default: #000000)
- PCD Version 0.7
- Data formats: ASCII, Binary, Binary Compressed (LZF)
- All standard PCD fields (x, y, z, intensity, rgb, rgba, normal_x, etc.)
Screenshots
Requirements
- VS Code version 1.57.0 or higher
Installation
- Open VS Code
- Go to Extensions (Ctrl+Shift+X)
- Search for "wind-pcd-viewer"
- Click Install
Or install from the VS Code Marketplace.
Usage
- Open any
.pcd file in VS Code
- The point cloud will automatically be displayed in the 3D viewer
- Use mouse controls to navigate the view
- Select a field from the right panel to colorize by that field's values
- Click on the colormap bar to change the color scheme
Known Issues
- Large point clouds may take a moment to load
Release Notes
See CHANGELOG.md for detailed release notes.
Contributing
Contributions are welcome! Please feel free to submit issues and pull requests on GitHub.
License
This project is licensed under the MIT License - see the LICENSE file for details.
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