take a look at CaffeNet C++ Classification example this is a simple example for 3D pay attention to the CMakeLists.txt and how to load the 3D data
----- input parameter/dir ---------------- the model I use is trained on http://rgbd-dataset.cs.washington.edu/dataset/rgbd-scene-labeling/ find a .pcd file to classify, specify the path infunction void PCL_Classifier::m_get_pcl()
-------------- my command ------------------------ ./build/caffe_my model/3DCNN_deploy.prototxt model/3DCNN_augmented__iter_8000.caffemodel model/class_label_name.txt
--------- my output -------------------------------- 0.9844 - "class 3 cereal box" 0.0151 - "class 5 soda can"