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Mr. Karthik, The code it did compile, and publish the output msg as a PointCloud2 type (thank you very much for this!), though while I'm trying to visualize the point cloud using:

$ rosrun image_view image_view image:=/camera/rgb/david_img

(Previously running this line:

$ rosrun pcl_ros convert_pointcloud_to_image input:=/camera/rgb/david output:=/camera/rgb/david_img)

I get this msg:

OpenCV Error: Bad argument (Unknown array type) in cvarrToMat, file /tmp/buildd/libopencv-2.3.1+svn6514+branch23/modules/core/src/matrix.cpp, line 646 terminate called after throwing an instance of 'cv::Exception' what(): /tmp/buildd/libopencv-2.3.1+svn6514+branch23/modules/core/src/matrix.cpp:646: error: (-5) Unknown array type in function cvarrToMat

Why is not able to visualize this img?

Thanks!