X-lanni
54 lines
1.7 KiB
Markdown
54 lines
1.7 KiB
Markdown
## Enabling and Visualizing Point Cloud in ROS 2
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This section demonstrates how to enable point cloud data output from the camera node and visualize it using RViz2, similarly to the initial camera node setup discussed in the [Starting Camera Node](./start_camera_node.MD) document.
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### Enabling Depth Point Cloud
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#### Command to Enable Depth Point Cloud
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To activate the point cloud data stream for depth information, use the following command:
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```bash
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ros2 launch orbbec_camera gemini_330_series.launch.py enable_point_cloud:=true
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```
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#### Visualizing Depth Point Cloud in RViz2
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After running the above command, perform the following steps to visualize the depth point cloud:
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1. Open RViz2.
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2. Add a `PointCloud2` display.
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3. Select the `/camera/depth/points` topic for visualization.
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4. Set the fixed frame to `camera_link` to properly align the data.
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##### Example Visualization
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Here is what the depth point cloud might look like in RViz2:
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### Enabling Colored Point Cloud
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#### Command to Enable Colored Point Cloud
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To enable the colored point cloud feature, enter the following command:
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```bash
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ros2 launch orbbec_camera gemini_330_series.launch.py enable_colored_point_cloud:=true
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```
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#### Visualizing Colored Point Cloud in RViz2
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To visualize the colored point cloud data:
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1. Launch RViz2 following the command execution.
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2. Add a `PointCloud2` display panel.
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3. Choose the `/camera/depth_registered/points` topic from the list.
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4. Ensure the fixed frame is set to `camera_link`.
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##### Example Visualization
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The result of the colored point cloud in RViz2 should look similar to this:
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