Method for classification of point cloud is presented based on LiDAR function in order to solve the problem of fast and accurate classification of point cloud application of power-line inspection. Detect probabilistic of different kind of targets such as power-line, tower and ground target are built based on LiDAR function. Based on the presented model of detecting probabilistic model, point cloud is meshed and parameters of each mesh are calculated based on the detecting probabilistic model. Fast classification method is designed based the parameters of each mesh, in which point cloud from power-line, tower and ground target is extracted. In order to verify the effectiveness of the presented method of classification, serval groups of point cloud are applied in experiment of point cloud classification. According to the results of experiments, recall ration of the presented method can reach as high as 98%, and time-consuming of classification for one segment of power line can reach 14 s. Results of the presented experiments show that the presented method of classification of point cloud can reach higher accuracy and efficiency.