code: def loadPCD(filename, c="gold", alpha=1):
      
      if not os.path.exists(filename):
          colors.printc("~noentry Error in loadPCD: Cannot find file", filename, c=1)
          return None
      f = open(filename, "r")
      lines = f.readlines()
      f.close()
      start = False
      pts = []
      N, expN = 0, 0
      for text in lines:
          if start:
              if N >= expN:
                  break
              l = text.split()
              pts.append([float(l[0]), float(l[1]), float(l[2])])
              N += 1
          if not start and "POINTS" in text:
              expN = int(text.split()[1])
          if not start and "DATA ascii" in text:
              start = True
      if expN != N:
          colors.printc("~!? Mismatch in pcd file", expN, len(pts), c="red")
      src = vtk.vtkPointSource()
      src.SetNumberOfPoints(len(pts))
      src.Update()
      poly = src.GetOutput()
      for i, p in enumerate(pts):
          poly.GetPoints().SetPoint(i, p)
      if not poly:
          colors.printc("~noentry Unable to load", filename, c="red")
          return False
      actor = Actor(poly, colors.getColor(c), alpha)
      actor.GetProperty().SetPointSize(4)
      return actor
docs: Return ``vtkActor`` from `Point Cloud` file format. Return an ``Actor(vtkActor)`` object.