How to Convert the World Coordinates Obtained by Clicking on the Image of Three.js Loading a PCD File into PCD Coordinates

Questions
1 
  raycaster.ray.direction.set(this.mouse.x, this.mouse.y, 0.5).unproject(this.camera).sub(this.camera.position).normalize();
  raycaster.setFromCamera(this.mouse, this.camera);
  const intersects = raycaster.intersectObject(this.scene );
  if (intersects.length <= 0) return void 0;
  let point = intersects[0].point;
  
 const pcdCoordinate = this.worldToPCD(point);
 console.log(pcdCoordinate)
 console.log(point)
  intersects[ 0 ].object.material.color.set( 0xff0000 );

How to implement the worldToPCD method