View PCD files in your browser
The point cloud format of robotics and lidar, from the Point Cloud Library. Open a PCD right here in 3D, with its colors. Nothing leaves your device.
Or drop it anywhere on this page
What you'll see
Your model opens in 3D, lit and framed, with what's in it beside it and what you pick on the other side.
- Turn, zoom and move it • Double click to center on a point
- Every object in a list • Hide one or see it alone
- Its own colors, clay, wireframe or X-ray
- Export • PNG, GLB, USDZ, STL and OBJ
About PCD
The Point Cloud Library, an open source project for 3D perception, made PCD in 2011. Robots, self-driving research, lidar and depth cameras save their scans as PCD, through ROS and many tools.
A PCD starts with a text header naming its fields, like x, y, z, rgb and intensity, then the points as text, binary or compressed binary.
Filepeek reads it in your browser and draws each point in its color. Turn around the cloud and zoom into it, and Export saves the cloud as GLB, or the view as PNG.
Point Cloud Data
.pcd
Format
- MIME type
- application/octet-stream
- Made by
- The Point Cloud Library
- Released
- 2011
Inside the file
- Holds
- Points with their fields
- Fields
- x, y, z, rgb, intensity
- Data
- Text, binary or compressed
- Made by
- PCL and ROS
Opens in every browser
Browsers download PCD files. Filepeek opens them in 3D in Chrome, Edge, Firefox and Safari.
- YouChromeOpens through Filepeek
- YouEdgeOpens through Filepeek
- YouFirefoxOpens through Filepeek
- YouSafariOpens through Filepeek
Questions
How do I view a PCD file?
Drop it on this page or press Peek a PCD. The cloud opens in 3D, with nothing to install.
Does it open compressed binary PCDs?
Yes. Text, binary and compressed binary all open.
Can I save it for another 3D app?
Yes. Choose Export, then Save as GLB, which keeps each point's color.
Is my file uploaded?
No. The file opens inside your browser and never leaves your device.