PCDLoader Issue with RGBA Field

Based on the documentation for the PCDLoader in Three.js, there appears to be an issue with your PCD file that includes an rgba field. The PCDLoader supports several fields including:

• x y z (coordinates)
• rgb (color)
• normal_x normal_y normal_z (normals)
• intensity
• label

However, the documentation doesn't explicitly mention support for the rgba field format. The loader is designed to handle rgb for color information, but not rgba.

Possible Solutions

1. Convert your PCD file: If possible, convert your PCD file to use rgb instead of rgba field.

2. Modify the PCDLoader: You could extend the PCDLoader to handle the rgba field. This would involve editing the source code at examples/jsm/loaders/PCDLoader.js to add support for the rgba field type.

3. Pre-process your data: If you have control over the data generation, consider changing the output format to match what PCDLoader expects.

Example Implementation

If you decide to modify the PCDLoader, you'll need to add handling for the rgba field similar to how it handles the rgb field. Here's a conceptual approach:

JAVASCRIPTCopied
// Import the original PCDLoader
import { PCDLoader } from 'three/examples/jsm/loaders/PCDLoader.js';

// Extend the PCDLoader to handle rgba
class ExtendedPCDLoader extends PCDLoader {
  parse(data, url) {
    // Call the original parse method or copy and modify the parsing logic
    // to handle the rgba field specifically
    
    // You'll need to modify how the color attribute is created when rgba is detected
    // instead of rgb
    
    return modifiedResult;
  }
}

// Use your extended loader
const loader = new ExtendedPCDLoader();
loader.load('your-file.pcd', function(points) {
  scene.add(points);
});

Check Your Data

It's also worth verifying that your PCD file is correctly formatted and not corrupted. The NaN values in the position array suggest there might be issues with how the data is being read or interpreted.

You might want to try loading a simpler PCD file (with just x, y, z fields) to confirm that the loader works correctly with your setup, then gradually add complexity.