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You can use the PCL point cloud editor[1] to load pcd files, select points, delete them, and save the result as pcd.

[1] http://svn.pointclouds.org/pcl/trunk/apps/point_cloud_editor/, see http://www.pointclouds.org/downloads/source.html to compile PCL from source

You can use the PCL point cloud editor[1] to load pcd files, select points, delete them, and save the result as pcd.

[1] http://svn.pointclouds.org/pcl/trunk/apps/point_cloud_editor/, see http://www.pointclouds.org/downloads/source.html to compile PCL from sourcesource ... make sure to set the BUILD_apps and BUILD_app_point_cloud_editor cmake flags to true as they're false by default I think so the app wouldn't get built.