diff --git a/README.md b/README.md
index f0f4729..520cacd 100644
--- a/README.md
+++ b/README.md
@@ -13,6 +13,10 @@ otherwise you might get errors during compilation.
 After installing everything, you can start CMake. There you have to set the `PCL_DIR` to your PCL installation (e.g. C:/Program Files/PCL 1.9.1/cmake)
 and the `royale_DIR` to the share folder of your Royale binary installation (e.g. D:/Program Files/royale/4.23.0.1062/share) and click **Generate**.
 
+**Attention**: With Royale 5.3 we switched to C++17, but there is no PCL version available that
+supports this. So, if you want to use PCL with Royale, you have to use a version <5.3! 
+If you only need a pointcloud functionality, check out our Open3D example. 
+
 ## Quick Start
 Below you see which key toggles which filter:
 - n: [show normals](#show-normals) 
diff --git a/samplePCL.cpp b/samplePCL.cpp
index 12ba624..f412506 100644
--- a/samplePCL.cpp
+++ b/samplePCL.cpp
@@ -199,19 +199,19 @@ class RoyaleListener : public IDepthDataListener
 
             for (size_t i = 0u; i < cloud->points.size(); ++i)
             {
-                cloud->points[i].x = data->points[i].x;
-                cloud->points[i].y = data->points[i].y;
-                cloud->points[i].z = data->points[i].z;
+                cloud->points[i].x = data->getX(i);
+                cloud->points[i].y = data->getY(i);
+                cloud->points[i].z = data->getZ(i);
 
-                cloudDuplicate->points[i].x = data->points[i].x;
-                cloudDuplicate->points[i].y = data->points[i].y;
-                cloudDuplicate->points[i].z = data->points[i].z;
+                cloudDuplicate->points[i].x = data->getX(i);
+                cloudDuplicate->points[i].y = data->getY(i);
+                cloudDuplicate->points[i].z = data->getZ(i);
 
-                cloudIntensity->points[i].x = data->points[i].x;
-                cloudIntensity->points[i].y = data->points[i].y;
-                cloudIntensity->points[i].z = data->points[i].z;
+                cloudIntensity->points[i].x = data->getX(i);
+                cloudIntensity->points[i].y = data->getY(i);
+                cloudIntensity->points[i].z = data->getZ(i);
 
-                const RgbColor col = getColor(data->points[i].z);
+                const RgbColor col = getColor(data->getZ(i));
 
                 cloud->points[i].r = col.r;
                 cloud->points[i].g = col.g;
@@ -222,9 +222,9 @@ class RoyaleListener : public IDepthDataListener
                 cloudDuplicate->points[i].b = col.b;
 
                 // calculate intensity from color
-                cloudIntensity->points[i].intensity = data->points[i].grayValue / 2000.0f;
+                cloudIntensity->points[i].intensity = data->getGrayValue(i) / 2000.0f;
 
-                if (data->points[i].depthConfidence > 0)
+                if (data->getDepthConfidence(i) > 0)
                 {
                     cloud->points[i].a = 255;
                     cloudDuplicate->points[i].a = 255;
@@ -670,7 +670,7 @@ int main(int argc, char *argv[])
                 }
             }
 
-            if (!growRegion & !bilateral & !detectPlanes)
+            if (!growRegion && !bilateral && !detectPlanes)
             {
                 viewer.removeAllPointClouds();