pcd点云

[tianxiangLee]

变更描述 / Description

新增 PCD 点云加载 示例（/expand/PcdViewer），在空白地图上叠加 Three.js 点云，解决示例门户无法直接打开、预览 .pcd 文件的问题。

• 内置园区扫描点云（samples/samples.pcd），也支持导入本地 .pcd
• 支持 ascii / binary / binary_compressed；未压缩 binary（含 intensity + rgb）用 JS 直读，避免 pcl.js 无对应点类型导致 WASM 异常
• 着色：RGB / 高度 / 强度 / 单色；可调点大小、体素降采样、统计离群点去除
• createPointCloud3D 增加逐点 colors，优先于 pointColor / colorMap
• Vite 将 .pcd 纳入静态资源；依赖增加 pcl.js（体素/去噪走 WASM）

Added a PCD point cloud viewer example (/expand/PcdViewer) so the demo portal can load and inspect .pcd files on a blank map.

• Ships a campus scan (samples/samples.pcd) and supports local .pcd import
• Parses ascii / binary / binary_compressed; uncompressed binary with intensity + rgb is read in JS to avoid pcl.js WASM failures
• Color modes: RGB / height / intensity / single; point size, voxel downsample, and statistical outlier removal
• createPointCloud3D accepts per-point colors (takes priority over pointColor / colorMap)
• Vite includes .pcd as assets; adds pcl.js for voxel/SOR filters via WASM

变更类型 / Type of Change

• feat - 新功能 / New feature
• fix - Bug 修复 / Bug fix
• docs - 文档更新 / Documentation update
• refactor - 重构（不影响功能）/ Refactor (no functional change)
• perf - 性能优化 / Performance improvement
• chore - 构建/依赖/配置变更 / Build / dependency / config change

关联 Issue / Related Issue

无 / N/A

测试说明 / Test Notes

1. 打开示例门户，进入 扩展 → PCD点云加载（/expand/PcdViewer）

2. 确认内置 samples.pcd 能加载，HUD 显示点数、字段、包围盒

3. 切换着色模式（RGB / 高度 / 强度 / 单色），拖动点大小

4. 开启体素降采样、统计离群点去除，确认渲染点数变化且画面仍可用

5. 点击「导入 PCD 文件」，打开本地 .pcd，确认可替换当前点云

6. 「重置视角」后相机回到默认俯仰/朝向

7. pnpm run build 本地构建通过

8. Open the demo portal → Expand → PCD Point Cloud (/expand/PcdViewer)

9. Confirm the built-in samples.pcd loads and HUD shows count / fields / bounds

10. Switch color modes (RGB / height / intensity / single) and adjust point size

11. Enable voxel downsample and SOR; rendered count should change without breaking the view

12. Import a local .pcd and confirm it replaces the current cloud

13. “Reset view” restores the default camera

14. pnpm run build succeeds locally

Checklist

• 本地构建通过 pnpm run build / Local build passes
• 代码符合项目规范 / Code follows project conventions
• 已更新相关文档（如有必要）/ Updated relevant docs (if needed)