UWSim now supports the load of point clouds generated with the PCL library (PCD format). The initial version only supports XYZRGB data types. Although it should also load point clouds with other types, only position and color will displayed. The class name is osgPCDLoader and can be used in the following way:
Basically, the osgPCDLoader class reads the PCD file using the PCL library and builds an OpenSceneGraph drawable object enclosed in a Geode, that can be directy attached to your scene graph. The point cloud is rendered as colored points, with lighting disabled.