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i'd solve that in this way:

      sensor_msgs::PointCloud output;
      output.header = input->header;
      geometry_msgs::Point32 as;
      as.x = input->pose.position.x;
      as.y = input->pose.position.y;
      as.z = input->pose.position.z; 
      output.points.push_back(as);

But the input->pose.position is the pose of the drone and not the pointcloud, probably i'd read in the wrong way the topics and the messages on Rviz.

i hope this maybe could help someone...

thanks for all your advices Erwan, i appriciate!