€•l-Œdocutils.nodes”Œdocument”“”)�”}”(Œ rawsource”Œ”Œchildren”]”hŒsection”“”)�”}”(hhh]”(hŒtitle”“”)�”}”(hŒ-Enabling and Visualizing Point Cloud in ROS 2”h]”hŒText”“”Œ-Enabling and Visualizing Point Cloud in ROS 2”…”�”}”(Œparent”hŒ _document”hŒsource”NŒline”NubaŒ
attributes”}”(Œids”]”Œclasses”]”Œnames”]”Œdupnames”]”Œbackrefs”]”uŒtagname”hhKhhhŒ^/home/runner/work/OrbbecSDK_ROS2/OrbbecSDK_ROS2/docs/source/4_application_guide/point_cloud.md”ubhŒ paragraph”“”)�”}”(hŒrThis section demonstrates how to enable point cloud data output from the camera node and visualize it using RViz2.”h]”hŒrThis section demonstrates how to enable point cloud data output from the camera node and visualize it using RViz2.”…”�”}”(hh.hhhNhNubah}”(h ]”h"]”h$]”h&]”h(]”uh*h,hKhhhhhh+ubh
)�”}”(hhh]”(h)�”}”(hŒEnabling Depth Point Cloud”h]”hŒEnabling Depth Point Cloud”…”�”}”(hh?hhhNhNubah}”(h ]”h"]”h$]”h&]”h(]”uh*hhKhh<hh+ubh
)�”}”(hhh]”(h)�”}”(hŒ#Command to Enable Depth Point Cloud”h]”hŒ#Command to Enable Depth Point Cloud”…”�”}”(hhPhhhNhNubah}”(h ]”h"]”h$]”h&]”h(]”uh*hhKhhMhh+ubh-)�”}”(hŒYTo activate the point cloud data stream for depth information, use the following command:”h]”hŒYTo activate the point cloud data stream for depth information, use the following command:”…”�”}”(hh^hhhNhNubah}”(h ]”h"]”h$]”h&]”h(]”uh*h,hK hhMhhhh+ubhŒ
literal_block”“”)�”}”(hŒNros2 launch orbbec_camera gemini_330_series.launch.py enable_point_cloud:=true”h]”hŒNros2 launch orbbec_camera gemini_330_series.launch.py enable_point_cloud:=true”…”�”}”hhnsbah}”(h ]”h"]”h$]”h&]”h(]”Œ xml:space”Œpreserve”Œforce”‰Œlanguage”Œbash”Œhighlight_args”}”uh*hlhh+hKhhMhhubeh}”(h ]”Œ#command-to-enable-depth-point-cloud”ah"]”h$]”Œ#command to enable depth point cloud”ah&]”h(]”uh*h hKhh<hhhh+ubh
)�”}”(hhh]”(h)�”}”(hŒ&Visualizing Depth Point Cloud in RViz2”h]”hŒ&Visualizing Depth Point Cloud in RViz2”…”�”}”(hhŽhhhNhNubah}”(h ]”h"]”h$]”h&]”h(]”uh*hhKhh‹hh+ubh-)�”}”(hŒ`After running the above command, perform the following steps to visualize the depth point cloud:”h]”hŒ`After running the above command, perform the following steps to visualize the depth point cloud:”…”�”}”(hhœhhhNhNubah}”(h ]”h"]”h$]”h&]”h(]”uh*h,hKhh‹hhhh+ubhŒenumerated_list”“”)�”}”(hhh]”(hŒ list_item”“”)�”}”(hhh]”h-)�”}”(hŒOpen RViz2.”h]”hŒOpen RViz2.”…”�”}”(hh´hhhNhNubah}”(h ]”h"]”h$]”h&]”h(]”uh*h,hKhh±hhhh+ubah}”(h ]”h"]”h$]”h&]”h(]”uh*h¯hKhh¬hhhh+ubh°)�”}”(hhh]”h-)�”}”(hŒAdd a PointCloud2 display.”h]”(hŒAdd a ”…”�”}”(hhËhhhNhNubhŒliteral”“”)�”}”(hŒPointCloud2”h]”hŒPointCloud2”…”�”}”(hhÕhhhNhNubah}”(h ]”h"]”h$]”h&]”h(]”uh*hÓhhËhhhh+hKubhŒ display.”…”�”}”(hhËhhhNhNubeh}”(h ]”h"]”h$]”h&]”h(]”uh*h,hKhhÈhhhh+ubah}”(h ]”h"]”h$]”h&]”h(]”uh*h¯hKhh¬hhhh+ubh°)�”}”(hhh]”h-)�”}”(hŒ8Select the /camera/depth/points topic for visualization.”h]”(hŒSelect the ”…”�”}”(hhöhhhNhNubhÔ)�”}”(hŒ/camera/depth/points”h]”hŒ/camera/depth/points”…”�”}”(hhþhhhNhNubah}”(h ]”h"]”h$]”h&]”h(]”uh*hÓhhöhhhh+hKubhŒ topic for visualization.”…”�”}”(hhöhhhNhNubeh}”(h ]”h"]”h$]”h&]”h(]”uh*h,hKhhóhhhh+ubah}”(h ]”h"]”h$]”h&]”h(]”uh*h¯hKhh¬hhhh+ubh°)�”}”(hhh]”h-)�”}”(hŒ>Set the fixed frame to camera_link to properly align the data.”h]”(hŒSet the fixed frame to ”…”�”}”(hjhhhNhNubhÔ)�”}”(hŒcamera_link”h]”hŒcamera_link”…”�”}”(hj'hhhNhNubah}”(h ]”h"]”h$]”h&]”h(]”uh*hÓhjhhhh+hKubhŒ to properly align the data.”…”�”}”(hjhhhNhNubeh}”(h ]”h"]”h$]”h&]”h(]”uh*h,hKhjhhhh+ubah}”(h ]”h"]”h$]”h&]”h(]”uh*h¯hKhh¬hhhh+ubeh}”(h ]”h"]”h$]”h&]”h(]”uh*hªhKhh‹hhhh+ubhŒbullet_list”“”)�”}”(hhh]”h°)�”}”(hhh]”h-)�”}”(hŒExample Visualization”h]”hŒstrong”“”)�”}”(hŒExample Visualization”h]”hŒExample Visualization”…”�”}”(hjYhhhNhNubah}”(h ]”h"]”h$]”h&]”h(]”uh*jWhjShhhh+hKubah}”(h ]”h"]”h$]”h&]”h(]”uh*h,hKhjPhhhh+ubah}”(h ]”h"]”h$]”h&]”h(]”uh*h¯hKhjMhhhh+ubah}”(h ]”h"]”h$]”h&]”h(]”uh*jKhKhh‹hhhh+ubh-)�”}”(hŒ<Here is what the depth point cloud might look like in RViz2:”h]”hŒ<Here is what the depth point cloud might look like in RViz2:”…”�”}”(hjyhhhNhNubah}”(h ]”h"]”h$]”h&]”h(]”uh*h,hKhh‹hhhh+ubh-)�”}”(hŒDepth Point Cloud Visualization”h]”hŒimage”“”)�”}”(hj‰h]”hh…”�”}”(hj�hhhNhNubah}”(h ]”h"]”h$]”h&]”h(]”Œuri”Œ#source/image/point_cloud/image5.jpg”Œalt”j‰Œ
candidates”}”Œ*”jšsŒoriginal_uri”Œ../image/point_cloud/image5.jpg”uh*j‹hj‡hhhh+hKubah}”(h ]”h"]”h$]”h&]”h(]”uh*h,hKhh‹hhhh+ubeh}”(h ]”Œ&visualizing-depth-point-cloud-in-rviz2”ah"]”h$]”Œ&visualizing depth point cloud in rviz2”ah&]”h(]”uh*h hKhh<hhhh+ubeh}”(h ]”Œenabling-depth-point-cloud”ah"]”h$]”Œenabling depth point cloud”ah&]”h(]”uh*h hKhhhhhh+ubh
)�”}”(hhh]”(h)�”}”(hŒEnabling Colored Point Cloud”h]”hŒEnabling Colored Point Cloud”…”�”}”(hjºhhhNhNubah}”(h ]”h"]”h$]”h&]”h(]”uh*hhKhj·hh+ubh
)�”}”(hhh]”(h)�”}”(hŒ%Command to Enable Colored Point Cloud”h]”hŒ%Command to Enable Colored Point Cloud”…”�”}”(hjËhhhNhNubah}”(h ]”h"]”h$]”h&]”h(]”uh*hhK hjÈhh+ubh-)�”}”(hŒGTo enable the colored point cloud feature, enter the following command:”h]”hŒGTo enable the colored point cloud feature, enter the following command:”…”�”}”(hjÙhhhNhNubah}”(h ]”h"]”h$]”h&]”h(]”uh*h,hK"hjÈhhhh+ubhm)�”}”(hŒVros2 launch orbbec_camera gemini_330_series.launch.py enable_colored_point_cloud:=true”h]”hŒVros2 launch orbbec_camera gemini_330_series.launch.py enable_colored_point_cloud:=true”…”�”}”hjçsbah}”(h ]”h"]”h$]”h&]”h(]”h|h}h~‰hŒbash”h�}”uh*hlhh+hK hjÈhhubeh}”(h ]”Œ%command-to-enable-colored-point-cloud”ah"]”h$]”Œ%command to enable colored point cloud”ah&]”h(]”uh*h hK hj·hhhh+ubh
)�”}”(hhh]”(h)�”}”(hŒ(Visualizing Colored Point Cloud in RViz2”h]”hŒ(Visualizing Colored Point Cloud in RViz2”…”�”}”(hjhhhNhNubah}”(h ]”h"]”h$]”h&]”h(]”uh*hhK(hjÿhh+ubh-)�”}”(hŒ*To visualize the colored point cloud data:”h]”hŒ*To visualize the colored point cloud data:”…”�”}”(hjhhhNhNubah}”(h ]”h"]”h$]”h&]”h(]”uh*h,hK*hjÿhhhh+ubh«)�”}”(hhh]”(h°)�”}”(hhh]”h-)�”}”(hŒ-Launch RViz2 following the command execution.”h]”hŒ-Launch RViz2 following the command execution.”…”�”}”(hj$hhhNhNubah}”(h ]”h"]”h$]”h&]”h(]”uh*h,hK,hj!hhhh+ubah}”(h ]”h"]”h$]”h&]”h(]”uh*h¯hK,hjhhhh+ubh°)�”}”(hhh]”h-)�”}”(hŒ Add a PointCloud2 display panel.”h]”(hŒAdd a ”…”�”}”(hj;hhhNhNubhÔ)�”}”(hŒPointCloud2”h]”hŒPointCloud2”…”�”}”(hjChhhNhNubah}”(h ]”h"]”h$]”h&]”h(]”uh*hÓhj;hhhh+hKubhŒ display panel.”…”�”}”(hj;hhhNhNubeh}”(h ]”h"]”h$]”h&]”h(]”uh*h,hK-hj8hhhh+ubah}”(h ]”h"]”h$]”h&]”h(]”uh*h¯hK-hjhhhh+ubh°)�”}”(hhh]”h-)�”}”(hŒ?Choose the /camera/depth_registered/points topic from the list.”h]”(hŒChoose the ”…”�”}”(hjdhhhNhNubhÔ)�”}”(hŒ/camera/depth_registered/points”h]”hŒ/camera/depth_registered/points”…”�”}”(hjlhhhNhNubah}”(h ]”h"]”h$]”h&]”h(]”uh*hÓhjdhhhh+hKubhŒ topic from the list.”…”�”}”(hjdhhhNhNubeh}”(h ]”h"]”h$]”h&]”h(]”uh*h,hK.hjahhhh+ubah}”(h ]”h"]”h$]”h&]”h(]”uh*h¯hK.hjhhhh+ubh°)�”}”(hhh]”h-)�”}”(hŒ-Ensure the fixed frame is set to camera_link.”h]”(hŒ!Ensure the fixed frame is set to ”…”�”}”(hj�hhhNhNubhÔ)�”}”(hŒcamera_link”h]”hŒcamera_link”…”�”}”(hj•hhhNhNubah}”(h ]”h"]”h$]”h&]”h(]”uh*hÓhj�hhhh+hKubhŒ.”…”�”}”(hj�hhhNhNubeh}”(h ]”h"]”h$]”h&]”h(]”uh*h,hK/hjŠhhhh+ubah}”(h ]”h"]”h$]”h&]”h(]”uh*h¯hK/hjhhhh+ubeh}”(h ]”h"]”h$]”h&]”h(]”uh*hªhK,hjÿhhhh+ubjL)�”}”(hhh]”h°)�”}”(hhh]”h-)�”}”(hŒExample Visualization”h]”jX)�”}”(hŒExample Visualization”h]”hŒExample Visualization”…”�”}”(hjÃhhhNhNubah}”(h ]”h"]”h$]”h&]”h(]”uh*jWhj¿hhhh+hKubah}”(h ]”h"]”h$]”h&]”h(]”uh*h,hK1hj¼hhhh+ubah}”(h ]”h"]”h$]”h&]”h(]”uh*h¯hK1hj¹hhhh+ubah}”(h ]”h"]”h$]”h&]”h(]”uh*jKhK1hjÿhhhh+ubh-)�”}”(hŒKThe result of the colored point cloud in RViz2 should look similar to this:”h]”hŒKThe result of the colored point cloud in RViz2 should look similar to this:”…”�”}”(hjãhhhNhNubah}”(h ]”h"]”h$]”h&]”h(]”uh*h,hK3hjÿhhhh+ubh-)�”}”(hŒ!Colored Point Cloud Visualization”h]”jŒ)�”}”(hjóh]”hh…”�”}”(hjõhhhNhNubah}”(h ]”h"]”h$]”h&]”h(]”j™Œ#source/image/point_cloud/image6.jpg”j›jójœ}”jžjsjŸŒ../image/point_cloud/image6.jpg”uh*j‹hjñhhhh+hKubah}”(h ]”h"]”h$]”h&]”h(]”uh*h,hK5hjÿhhhh+ubeh}”(h ]”Œ(visualizing-colored-point-cloud-in-rviz2”ah"]”h$]”Œ(visualizing colored point cloud in rviz2”ah&]”h(]”uh*h hK(hj·hhhh+ubeh}”(h ]”Œenabling-colored-point-cloud”ah"]”h$]”Œenabling colored point cloud”ah&]”h(]”uh*h hKhhhhhh+ubeh}”(h ]”Œ-enabling-and-visualizing-point-cloud-in-ros-2”ah"]”h$]”Œ-enabling and visualizing point cloud in ros 2”ah&]”h(]”uh*h hKhhhhhh+ubah}”(h ]”h"]”h$]”h&]”h(]”Œsource”h+Œtranslation_progress”}”(Œtotal”KŒ
