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I have created this function to delete PointCloud2

removeObject3D(object3D) {
    if (this.viewer === undefined)
        return -1;

    if (object3D.points.object === undefined)
        return 2;

    let parentScene = object3D.points.object.parent;
    //this.viewer.scene.remove(parentScene);
    this.viewer.scene.children = this.viewer.scene.children.filter(function(value, index, arr){ 
        return value.uuid !== parentScene.uuid;
    });

    return 1;
}

It is working by searching for the scene that his the parent of the PointCloud2 object then we remove this scene from the main scene's childs.