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For a pointcloud2 msg http://docs.ros.org/api/sensor_msgs/html/msg/PointCloud2.html the x,y,z values are stored in http://docs.ros.org/api/sensor_msgs/html/msg/PointField.html . You can refer to https://answers.ros.org/question/240491/point_cloud2read_points-and-then/ Also there is field is_dense in the pointcloud2 msg. If that is true it skips the invalid points so that makes it change the width i guess.