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Are you working with ROS node system or do you want to read in the pointcloud from a single c/cpp file?
In the first case you should roslaunch the openni_camera openni_node.launch file. This will publish the pointclouds on the /camera/rgb/points or /camera/depth/points topics (depending if you want XYZ or XYZRGB pointcloud). Look at roslaunch and the openni camera package.
In the second case you should look at the PCL library (pointclouds.org) as they have a ROS agnostic implementation.