I would like convert pcd to image

edit

Hello,

My question is: As can I visualize pcd files or the result of a function cloud_plane = cloud.extract(indices, negative=False) without rgb fiel (Can I see in rviz?)

The process is as follow:

I have a topic: /camera/depth/points [sensor_msgs/PointCloud2] And I get points this way (in phyton):

    points = pc2.read_points(data,"x, y, z")
    cloud= getCloud(points)
def getCloud(points):
    points_cloud=[]
    for point in points:
    points_cloud.append([punto[0],punto[1],punto[2]])
    cloud = pcl.PointCloud(np.array(pointscloud, dtype=np.float32))
    return cloud

Without RGB field. Then exec RANSAC

    seg = cloud.make_segmenter()
    seg.set_model_type(pcl.SACMODEL_PLANE)
    seg.set_method_type(pcl.SAC_RANSAC)
    seg.set_distance_threshold(0.001)
    seg.set_distance_threshold(0.03)
    indices, model = seg.segment()
    cloud_plane = cloud.extract(indices, negative=False)
    cloud_plane.to_file("plane.pcd")

Plane.pcd is:

VERSION 0.7
FIELDS x y z
SIZE 4 4 4
TYPE F F F
COUNT 1 1 1
WIDTH 91259
HEIGHT 1
VIEWPOINT 0 0 0 1 0 0 0
POINTS 91259
DATA ascii
-4.4817686 0.35769984 7.7747769
-4.4677291 0.35769889 7.7747564
-4.4536958 0.35769838 7.7747455
-4.4396615 0.35769784 7.7747335
-4.4256258 0.35769719 7.7747192
-4.4115911 0.35769659 7.7747064
-4.3975549 0.35769585 7.7746902

ETC.

Some answer?

Thanks !!