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