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no not all values should be Nan even i am using pcl for my realsense r200 camera with blob detection ,, i am feeding pixel values of x and y from blob to pcl to calculate x y and z,, though i am also getting Nan values,, but i think averaging the values of x and y from blob will help you with good values,, though i am also trying to find out way to just remove Nan values from the pcl cloud,, if it sees the blob it should return me all values except NAn,, please try to do averaging on your image.