PCD

PCD is the native point cloud format of the Point Cloud Library (PCL), storing 3D point coordinates and optional attributes (color, normals, intensity, etc.) in an efficient manner. It supports both ASCII and binary encoding, making it a common data format in robotics, surveying, and 3D scanning.

PCD is designed for point cloud processing rather than rendering: it does not contain mesh faces, so when displayed directly, it appears as a point cloud. To obtain a solid model or for 3D printing, the point cloud typically needs to be reconstructed into a mesh (e.g., via Poisson reconstruction) and then exported as STL.