Create pcd.js

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.