How to use orbslam to mapping?

edit

I am using orbslam in my project. The visualization using RVIZ is perfect (point cloud 2 message). But I need the coordinates of these nodes to add in my matrix of obstacles for use with path planning techquines. Anyone know how convert point cloud 2 to fulfill a 3D matrix in python? I just tried the default library of PCL, but the data don't return correctly. I am using Melodic with Ubuntu 18. Thanks in advance.