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Hi dornhege, can you elaborate a little bit ? I am new to the ROS community. Let me explain with specific example what I am looking for . On 'openni_camera' page in ROS documentation, I tried the OpenNI demo part. When I launch rviz (topic = /camera/depth/points), I can see kinect showing a heatmap kind of an image of whatever it sees. I want to be able to save this in a file which can give me x, y, z info of all the points captured.