In this paper, we present PC-MSDM, an objective metric for visual quality assessment of 3D point clouds. This full-reference metric is based on local curvature statistics and can be viewed as an extension for point clouds of the MSDM metric suited for 3D meshes. We evaluate its performance on an open subjective dataset of point clouds compressed by octree pruning; results show that the proposed metric outperforms its counterparts in terms of correlation with mean opinion scores.