RVIZ Point Cloud Representation of Grasped Objects

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Hello all,

I am trying to perform point cloud reconstruction of objects grasped by a robotic hand using rviz. The hand is equipped with tactile sensors whose data are streamed through ros topics. I was thinking about identifying a point of contact once one of the tactile sensors gives a reading and storing this point until a point cloud is formed which can be used to reconstruct the object at hand. I am new to this, so any guidance about how to do it or any recommended other approach to follow to accomplish what I need would be much appretiated. Thanks!