Create pcd.js

[vihari]

To parse the pcd files. xyz and rgb values can be read and no support for normals as of now(because I don't see the point)! For an example usage/demo please see https://github.com/vihari/GEReport. And the rendered page here: http://vihari.bitbucket.org/(as of August 2013. I may bring down this page after few months!) Recommended that there are no NaN or Inf values in the pcd file.