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Using functions in pcl_ros, I started from the sensor_msgs::PointCloud2 cloud_t in code above, I now use from the pcl (with some extra includes) the code below to convert from sensor_msgs::PointCloud2 to pcl::PointCloud< pcl::PointXYZ > , and this seems to work (outputs are within reasonable range or NaN):

pcl::PointCloud< pcl::PointXYZ > PointCloudXYZ;

pcl::fromROSMsg(cloud_t,PointCloudXYZ);
std::cout << "width is " << PointCloudXYZ.width << std::endl;
std::cout << "height is " << PointCloudXYZ.height << std::endl;
int cloudsize = (PointCloudXYZ.width) * (PointCloudXYZ.height);
for (int i=0; i< cloudsize; i++){
std::cout << "(x,y,z) = " << PointCloudXYZ.points[i] << std::endl;
}