It is noted in the documentation, not well-elaborated, and I can not even find any related-threads discussing why binary_compressed is not supported in PCD loader.
https://threejs.org/docs/index.html#examples/en/loaders/PCDLoader
I appreciate it if anyone who knows the reason gives feedback. Thanks a lot.
Probably because nobody had time or the requirement to implement this feature so far.
Can you share a compressed binary PCD file that could be used for testing/development?
It seems there is a custom node version of PCDLoader that can already handle those files: https://gitlab.com/taketwo/three-pcd-loader/blob/master/pcd-loader.js
Some progress:
Okay, the loader should be able to handle binary compressed files with the next release R110 
@Mugen87 Thanks for your explanation and the quick PR.