How To Add PCL Viewer To The List Of Open With Applications [UBUNTU]

You may normally use pcl_viewer from command line but you can also use it by just clicking on .pcd files. In order to that, we need to add a pcl_viewer.desktop file to "/usr/share/applications/" directory. So lets get started,

First run this command;

>    sudo subl /usr/share/applications/pcl_viewer.desktop

and then pcl_viewer.desktop file will pop up in gedit and you will paste the lines below;
 
[Desktop Entry]
Name=PCL Viewer
Exec=pcl_viewer %F
Terminal=false
Type=Application

And after you save the file, you will see PCL Viewer in your Applications as below.
And now, you will be able to open .pcd files by just clicking on it.