Add color to pointcloud

[an99990]

Hi, Thank you for this great demo. I have used your subscriber and publisher and have successfully subscribed and published PointCloud2 mgs. However, I am unable to visualise them in RVIZ. Is it because theres no rgba channel ?

here is my code, thank you

pt_cloud_image = np.array(list(read_points(pt_cloud_msg)))
pt_cloud_image = np.reshape(pt_cloud_image,
        (rgb_image.shape[0],rgb_image.shape[1],pt_cloud_image.shape[1]))

resized_pt_cloud = cv2.resize(pt_cloud_image, self.dim, interpolation=cv2.INTER_AREA)

for mask in masks:
            x = np.dstack([pt_cloud[:,:,0]])
            y = np.dstack([pt_cloud[:,:,1]])
            z = np.dstack([pt_cloud[:,:,2]])

            mask = mask.detach().cpu().numpy()
            x_new = np.multiply(x[:,:,0],mask)
            y_new = np.multiply(y[:,:,0],mask)
            z_new = np.multiply(z[:,:,0],mask)
            pt_cloud = np.dstack([x_new, y_new, z_new])
            pt_cloud_msg = point_cloud(pt_cloud,'zed2_base_link')
            self.object_point_pub_.publish(pt_cloud_msg)

What I am trying to do is apply a mask to the point cloud to only get the points within that mask. Thank you for any support.