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Hi rosmaker,

If you are using

roslaunch openni_launch openni.launch

then the conversion is already being done for you.

You only need to subscribe to the topic /camera/depth_registered/points. This topic is of type sensor_msgs/PointCloud2 and represents the 3D point cloud of the scene in meters.

You can find further information on how to access point cloud data in http://www.ros.org/wiki/pcl/Tutorials

I hope this helps

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