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How to get the XYZ values and publish it from the Point cloud

Hi, I'm using two identical camera's for stereo setup and it is working fine using stereo_image_proc(link text).Now i can publish the disparity map as well as point cloud.I would like to publish (print) X,Y,Z values from the pointcloud in order to calculate the distance?

Can anyone suggest modifications in point_cloud2.cpp?

Thanks in advance, ---run_vision