def loadPCD(filename, c="gold", alpha=1):
    """Return ``vtkActor`` from `Point Cloud` file format. Return an ``Actor(vtkActor)`` object."""
    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
Return ``vtkActor`` from `Point Cloud` file format. Return an ``Actor(vtkActor)`` object.