Access pointcloud 3d point using pixel coordinate using ros2 wrapper

Using the zed sdk, it is quite easy. However, i can’t find any resource on how to do this in ros2.

point_cloud = sl.Mat()
zed.retrieve_measure(point_cloud, sl.MEASURE.XYZRGBA)

Get the 3D point cloud values for pixel (i,j)

point3D = point_cloud.get_value(i,j)
x = point3D[0]
y = point3D[1]
z = point3D[2]
color = point3D[3]

Hello and welcome to our forum,

What’s the matter with your code ? Do you get an error somewhere ? It seems right to me.