A method, apparatus, and system provides the ability to process and render a point cloud. The points in the point cloud are grouped into three-dimensional (3D) voxels. A position of each of the points is stored in the point data file. The position is with respect to a location of the point's corresponding 3D voxel. Surface normal data for a surface normal associated with each of the points is also stored in the point data file. The points are organized into levels of details (LODs). The point data file is provided to a graphics processing unit (GPU) that processes the point data file to render the point cloud. During rendering, a LOD is selected to determine the points in the point cloud to render.