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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.