WebGL based Point Cloud (PCD) Viewer

Very practical and simple to use:

Here’s a thread discussing it:
http://www.pcl-users.org/SIMPLE-VIEWER-IN-HTML-td4013110.html

You can ask it to open any PCD file you want
http://www.pointclouds.org/assets/viewer/pcl_viewer.html?load=XXXX

For example:
http://www.pointclouds.org/assets/viewer/pcl_viewer.html?load=http://www.natalnet.br/~aroca/pcl_viewer/uploads/teste.pcd

You can also edit and try the HTML yourself:
http://jsfiddle.net/pZxJb/