I have a dense point cloud, which was in .xyz form, that had x, y, z, normal x, normal y, normal z information. I used CloudCompare to convert this to .pcd format. I can now read the file using pcl directly. However when I use the same in ROS, pcl fails to read this file, and nothing shows up as a result. But in ros I can read less dense files. Can any body tell me why is this happening? What could be the possible solution?