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Modified from another question:

pcl::PointCloud<pcl::PointXYZ>::iterator b1;
for (b1 = cloudPCL.points.begin(); b1 < cloudPCL.points.end(); b1++, b2++)
{

    ROS_INFO_STREAM("x: " << b1->x << ", y: " << b1->y << ", z: " << b1->z);
}

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