Transform pointcloud from ros into numpy

This is my question. When I using camera(zed mini) with ros, I want to output the pointcloud data into numpy with shape(720,1280,4).

When I just get the data through the python, I can get the numpy with shape(720,1280,4) by the following codes:
ptcloud_np = np.array(ptcloud.get_data()

This codes is used to output the pointcloud as numpy array in the zed pytorch.

Then through the point cloud numpy obtained in ROS I can find the XYZ information of each pixel in the left image.

Hi @kankanzheli
you found the solution to your problem here: