Pcd

The Pcd component loads and displays PCD (Point Cloud Data) files. This is ideal for:

Loading 3D scan data from sensors
Displaying point clouds from ROS or PCL pipelines
Visualizing LiDAR captures
Loading assets from robotics applications

Basic Usage

A minimal example that loads a PCD file from a URL:

python

import os
from vuer import Vuer, VuerSession
from vuer.schemas import Pcd

f3rm_ycb_1 = "pointclouds/f3rm_ycb_1.pcd"
f3rm_ycb_2 = "pointclouds/f3rm_ycb_2.pcd"

app = Vuer(static_root=os.getcwd() + "/../../../assets")

@app.spawn(start=True)
async def main(sess: VuerSession):
    sess.upsert @ Pcd(
        src="http://localhost:8012/workspace/" + f3rm_ycb_1,
        size=0.001,
        position=[0, 0, 0.5],
    )
    sess.upsert @ Pcd(
        src="http://localhost:8012/workspace/" + f3rm_ycb_2,
        size=0.001,
        position=[0, 0, 0.5],
    )

    await sess.forever()

Key Parameters

Parameter	Type	Default	Description
`src`	str	-	URL or local file path to the PCD file
`text`	str	-	Text content of the PCD file (load from string)
`buff`	bytes	-	Binary content of the PCD file (most efficient)
`encoding`	str	`'ascii'`	Encoding of the PCD file
`size`	float	-	Size of the points in the point cloud
`matrix`	tuple[float, ...]	-	4x4 transformation matrix (16 values) for positioning and orienting
`hide`	bool	`False`	Flag to hide the point cloud

Learn More

For detailed examples of using Pcd, see:

Showing Point Clouds - Programmatic point cloud display