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]