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I would also suggest using the depth image instead. Only use the PointCloud if you are absolutely sure you need xyz coordinates. The PointCloud is in fact a depth image, with its indices and depth values used to project the point in real world positions.

In fact, I rarely need an entire PointCloud. What I usually do is find the points I need, take their indices and depth and project only those points. Gives a slight efficiency boost I imagine too :)