<liclass="toctree-l3"><aclass="reference internal"href="../1_overview/introduction.html#support-hardware-products">1.1.1. Support Hardware Products</a></li>
<liclass="toctree-l3"><aclass="reference internal"href="../1_overview/introduction.html#orbbec-camera-datasheet">1.1.2. Orbbec camera datasheet</a></li>
<liclass="toctree-l3"><aclass="reference internal"href="../1_overview/introduction.html#support-platforms">1.1.3. Support Platforms</a></li>
<liclass="toctree-l3"><aclass="reference internal"href="../3_quickstarts/quickstart.html#build-your-first-camera-application">3.1.2. Build your First Camera Application</a><ul>
<liclass="toctree-l4"><aclass="reference internal"href="../3_quickstarts/quickstart.html#step-1-source-ros-2-and-workspace">3.1.2.1. Step 1: Source ROS 2 and Workspace</a></li>
<liclass="toctree-l4"><aclass="reference internal"href="../3_quickstarts/quickstart.html#step-2-launch-the-camera-node">3.1.2.2. Step 2: Launch the Camera Node</a></li>
<liclass="toctree-l4"><aclass="reference internal"href="../3_quickstarts/quickstart.html#step-3-visualize-in-rviz2">3.1.2.3. Step 3: Visualize in RViz2</a></li>
<liclass="toctree-l4"><aclass="reference internal"href="../3_quickstarts/quickstart.html#list-available-topics-services-parameters">3.1.3.1. List available topics / services/ parameters</a></li>
<liclass="toctree-l4"><aclass="reference internal"href="../3_quickstarts/quickstart.html#echo-a-topic">3.1.3.2. Echo a topic</a></li>
<liclass="toctree-l4"><aclass="reference internal"href="../3_quickstarts/quickstart.html#call-a-service">3.1.3.3. Call a service</a></li>
<liclass="toctree-l4"><aclass="reference internal"href="../3_quickstarts/quickstart.html#record-with-rosbag2">3.1.3.4. Record with rosbag2</a></li>
<liclass="toctree-l3"><aclass="reference internal"href="../3_quickstarts/orbbecviewer.html#connect-the-device">3.2.2. Connect the device</a></li>
<liclass="toctree-l3"><aclass="reference internal"href="../3_quickstarts/orbbecviewer.html#camera-control">3.2.3. Camera Control</a></li>
<liclass="toctree-l3"><aclass="reference internal"href="../3_quickstarts/orbbecviewer.html#device-information-and-firmware-upgrade">3.2.4. Device information and firmware upgrade</a></li>
<liclass="toctree-l4"><aclass="reference internal"href="services.html#ir-stream">4.2.1.3. IR Stream</a></li>
<liclass="toctree-l4"><aclass="reference internal"href="services.html#all-streams">4.2.1.4. All Streams</a></li>
</ul>
</li>
<liclass="toctree-l3"><aclass="reference internal"href="services.html#sensor-emitter-control">4.2.2. Sensor & Emitter Control</a></li>
<liclass="toctree-l3"><aclass="reference internal"href="services.html#device-information-management">4.2.3. Device Information & Management</a></li>
<liclass="toctree-l3"><aclass="reference internal"href="services.html#synchronization-triggering">4.2.4. Synchronization & Triggering</a></li>
<liclass="toctree-l3"><aclass="reference internal"href="services.html#data-capture-calibration-management">4.2.6. Data Capture & Calibration Management</a></li>
</ul>
</li>
<liclass="toctree-l2"><aclass="reference internal"href="topics.html">4.3. Available Topics</a><ul>
<liclass="toctree-l2 current"><aclass="current reference internal"href="#">4.8. Enabling and Visualizing Point Cloud in ROS 2</a><ul>
<liclass="toctree-l3"><aclass="reference internal"href="#enabling-depth-point-cloud">4.8.1. Enabling Depth Point Cloud</a><ul>
<liclass="toctree-l4"><aclass="reference internal"href="#command-to-enable-depth-point-cloud">4.8.1.1. Command to Enable Depth Point Cloud</a></li>
<liclass="toctree-l4"><aclass="reference internal"href="#visualizing-depth-point-cloud-in-rviz2">4.8.1.2. Visualizing Depth Point Cloud in RViz2</a></li>
</ul>
</li>
<liclass="toctree-l3"><aclass="reference internal"href="#enabling-colored-point-cloud">4.8.2. Enabling Colored Point Cloud</a><ul>
<liclass="toctree-l4"><aclass="reference internal"href="#command-to-enable-colored-point-cloud">4.8.2.1. Command to Enable Colored Point Cloud</a></li>
<liclass="toctree-l4"><aclass="reference internal"href="#visualizing-colored-point-cloud-in-rviz2">4.8.2.2. Visualizing Colored Point Cloud in RViz2</a></li>
<liclass="toctree-l2"><aclass="reference internal"href="../5_advanced_guide/advanced_guide.html#performance-optimization">5.1. Performance & Optimization</a><ul>
<liclass="toctree-l3"><aclass="reference internal"href="../5_advanced_guide/performance/lower_cpu_usage.html">5.1.1. Reducing CPU Usage with Orbbec ROS Package</a><ul>
<liclass="toctree-l4"><aclass="reference internal"href="../5_advanced_guide/performance/lower_cpu_usage.html#recommended-settings-for-lower-cpu-usage">5.1.1.1. Recommended Settings for Lower CPU Usage</a></li>
<liclass="toctree-l4"><aclass="reference internal"href="../5_advanced_guide/performance/lower_cpu_usage.html#launch-files-used-for-testing">5.1.1.2. Launch Files Used for Testing</a></li>
<liclass="toctree-l4"><aclass="reference internal"href="../5_advanced_guide/performance/lower_cpu_usage.html#test-environment">5.1.1.3. Test environment</a></li>
<liclass="toctree-l4"><aclass="reference internal"href="../5_advanced_guide/performance/lower_cpu_usage.html#test-setup">5.1.1.4. Test Setup</a></li>
<liclass="toctree-l4"><aclass="reference internal"href="../5_advanced_guide/performance/lower_cpu_usage.html#test-results">5.1.1.5. Test Results</a></li>
<liclass="toctree-l4"><aclass="reference internal"href="../5_advanced_guide/performance/lower_cpu_usage.html#further-optimizationa">5.1.1.6. Further Optimizationa</a></li>
<liclass="toctree-l3"><aclass="reference internal"href="../5_advanced_guide/performance/fastdds_tuning.html">5.1.3. Fast DDS Optimization for Orbbec Camera with ROS2</a><ul>
<liclass="toctree-l4"><aclass="reference internal"href="../5_advanced_guide/performance/fastdds_tuning.html#adjusting-system-parameters">5.1.3.1. Adjusting System Parameters</a></li>
<liclass="toctree-l4"><aclass="reference internal"href="../5_advanced_guide/performance/fastdds_tuning.html#fast-dds-configuration">5.1.3.2. Fast DDS Configuration</a></li>
<liclass="toctree-l4"><aclass="reference internal"href="../5_advanced_guide/multi_camera/multi_camera.html#no-data-stream-from-multiple-cameras">5.2.1.1. No Data Stream from Multiple Cameras</a></li>
<liclass="toctree-l4"><aclass="reference internal"href="../5_advanced_guide/multi_camera/multi_camera.html#image-topic-frame-rate-too-low-from-multiple-cameras">5.2.1.2. Image topic frame rate too low from Multiple Cameras</a></li>
<liclass="toctree-l4"><aclass="reference internal"href="../5_advanced_guide/multi_camera/multi_camera_synced.html#checking-camera-port-with-orbbecsdk-ros2">5.2.2.2. Checking camera port with OrbbecSDK_ROS2</a></li>
<liclass="toctree-l4"><aclass="reference internal"href="../5_advanced_guide/multi_camera/multi_camera_synced.html#run-the-following-command-to-start-the-multi-camera-synced">5.2.2.4. Run the following command to start the multi-camera synced</a></li>
<liclass="toctree-l4"><aclass="reference internal"href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#preparation-for-operation">5.2.3.2. Preparation for operation</a></li>
<liclass="toctree-l4"><aclass="reference internal"href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#run-this-example">5.2.3.3. Run this example</a></li>
<liclass="toctree-l4"><aclass="reference internal"href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#files-that-need-to-be-changed">5.2.3.4. Files that need to be changed</a></li>
<liclass="toctree-l4"><aclass="reference internal"href="../5_advanced_guide/multi_camera/gmsl_camera.html#single-gmsl-camera">5.2.4.1. Single GMSL camera</a></li>
<liclass="toctree-l4"><aclass="reference internal"href="../5_advanced_guide/multi_camera/gmsl_camera.html#multi-gmsl-camera">5.2.4.2. Multi GMSL camera</a></li>
<liclass="toctree-l4"><aclass="reference internal"href="../5_advanced_guide/multi_camera/gmsl_camera.html#multi-gmsl-camera-synced">5.2.4.3. Multi GMSL camera synced</a></li>
</ul>
</li>
</ul>
</li>
<liclass="toctree-l2"><aclass="reference internal"href="../5_advanced_guide/advanced_guide.html#configuration-modes">5.3. Configuration & Modes</a><ul>
<liclass="toctree-l3"><aclass="reference internal"href="../5_advanced_guide/configuration/align_depth_color.html">5.3.1. Aligning Depth to Color in ROS 2</a><ul>
<liclass="toctree-l4"><aclass="reference internal"href="../5_advanced_guide/configuration/align_depth_color.html#commands-to-align-and-view-depth-and-color-images">5.3.1.1. Commands to Align and View Depth and Color Images</a></li>
<liclass="toctree-l4"><aclass="reference internal"href="../5_advanced_guide/configuration/align_depth_color.html#selecting-topics-in-rviz2">5.3.1.2. Selecting Topics in RViz2</a></li>
<liclass="toctree-l4"><aclass="reference internal"href="../5_advanced_guide/configuration/align_depth_color.html#example-of-depth-to-color-overlay">5.3.1.3. Example of Depth to Color Overlay</a></li>
</ul>
</li>
<liclass="toctree-l3"><aclass="reference internal"href="../5_advanced_guide/configuration/configuration_of_depth_NFOV_and_WFOV_modes.html">5.3.2. Configuration of depth NFOV and WFOV modes</a></li>
<liclass="toctree-l3"><aclass="reference internal"href="../5_advanced_guide/configuration/depth_work_mode_switch.html">5.3.3. Depth work mode switch</a></li>
<liclass="toctree-l4"><aclass="reference internal"href="../5_advanced_guide/configuration/disparity_search_offset.html#function-introduction">5.3.4.1. Function Introduction</a></li>
<liclass="toctree-l4"><aclass="reference internal"href="../5_advanced_guide/configuration/disparity_search_offset.html#run-the-launch">5.3.4.3. Run the launch</a></li>
</ul>
</li>
<liclass="toctree-l3"><aclass="reference internal"href="../5_advanced_guide/configuration/interleave_ae_mode.html">5.3.5. Using interleave_ae with Gemini330 series cameras</a><ul>
<liclass="toctree-l4"><aclass="reference internal"href="../5_advanced_guide/configuration/interleave_ae_mode.html#run-the-launch">5.3.5.2. Run the launch</a></li>
<liclass="toctree-l4"><aclass="reference internal"href="../5_advanced_guide/configuration/net_camera.html#femto-mega-gemini-435le">5.3.7.1. Femto Mega & Gemini 435Le</a></li>
<liclass="toctree-l4"><aclass="reference internal"href="../5_advanced_guide/configuration/net_camera.html#multi-net-camera">5.3.7.3. Multi Net camera</a></li>
<liclass="toctree-l3"><aclass="reference internal"href="../6_benchmark/introduction.html#common-benchmark-node">6.1.1. common benchmark node</a></li>
<liclass="toctree-l3"><aclass="reference internal"href="../6_benchmark/introduction.html#service-benchmark-node">6.1.2. service benchmark node</a></li>
<liclass="toctree-l3"><aclass="reference internal"href="../6_benchmark/benchmark_usage.html#using-common-benchmark-node">6.2.1. Using common benchmark node</a></li>
<liclass="toctree-l3"><aclass="reference internal"href="../6_benchmark/benchmark_usage.html#using-service-benchmark-node">6.2.2. Using service benchmark node</a><ul>
<liclass="toctree-l3"><aclass="reference internal"href="../6_benchmark/benchmark_data.html#common-benckmark-data">6.3.1. Common Benckmark Data</a></li>
<liclass="toctree-l3"><aclass="reference internal"href="../6_benchmark/benchmark_data.html#service-benchmark-data">6.3.2. Service Benchmark Data</a></li>
<liclass="toctree-l2"><aclass="reference internal"href="../7_developer_guide/building_a_Debian_Package.html">7.1. Building a Debian Package</a><ul>
<liclass="toctree-l3"><aclass="reference internal"href="../7_developer_guide/building_a_Debian_Package.html#preparing-the-environment">7.1.1. Preparing the Environment</a></li>
<liclass="toctree-l3"><aclass="reference internal"href="../7_developer_guide/building_a_Debian_Package.html#building-the-package">7.1.3. Building the Package</a></li>
<liclass="toctree-l2"><aclass="reference internal"href="../8_FAQ/FAQ.html#no-data-stream-from-multiple-cameras">8.2. No Data Stream from Multiple Cameras</a></li>
<liclass="toctree-l2"><aclass="reference internal"href="../8_FAQ/FAQ.html#why-are-there-so-many-launch-files">8.4. Why Are There So Many Launch Files?</a></li>
<h1><spanclass="section-number">4.8. </span>Enabling and Visualizing Point Cloud in ROS 2<aclass="headerlink"href="#enabling-and-visualizing-point-cloud-in-ros-2"title="Link to this heading"></a></h1>
<p>This section demonstrates how to enable point cloud data output from the camera node and visualize it using RViz2.</p>
<sectionid="enabling-depth-point-cloud">
<h2><spanclass="section-number">4.8.1. </span>Enabling Depth Point Cloud<aclass="headerlink"href="#enabling-depth-point-cloud"title="Link to this heading"></a></h2>
<sectionid="command-to-enable-depth-point-cloud">
<h3><spanclass="section-number">4.8.1.1. </span>Command to Enable Depth Point Cloud<aclass="headerlink"href="#command-to-enable-depth-point-cloud"title="Link to this heading"></a></h3>
<p>To activate the point cloud data stream for depth information, use the following command:</p>
<h3><spanclass="section-number">4.8.1.2. </span>Visualizing Depth Point Cloud in RViz2<aclass="headerlink"href="#visualizing-depth-point-cloud-in-rviz2"title="Link to this heading"></a></h3>
<p>After running the above command, perform the following steps to visualize the depth point cloud:</p>
<olclass="simple">
<li><p>Open RViz2.</p></li>
<li><p>Add a <codeclass="docutils literal notranslate"><spanclass="pre">PointCloud2</span></code> display.</p></li>
<li><p>Select the <codeclass="docutils literal notranslate"><spanclass="pre">/camera/depth/points</span></code> topic for visualization.</p></li>
<li><p>Set the fixed frame to <codeclass="docutils literal notranslate"><spanclass="pre">camera_link</span></code> to properly align the data.</p></li>
<p>Here is what the depth point cloud might look like in RViz2:</p>
<p><imgalt="Depth Point Cloud Visualization"src="../../_images/image5.jpg"/></p>
</section>
</section>
<sectionid="enabling-colored-point-cloud">
<h2><spanclass="section-number">4.8.2. </span>Enabling Colored Point Cloud<aclass="headerlink"href="#enabling-colored-point-cloud"title="Link to this heading"></a></h2>
<h3><spanclass="section-number">4.8.2.1. </span>Command to Enable Colored Point Cloud<aclass="headerlink"href="#command-to-enable-colored-point-cloud"title="Link to this heading"></a></h3>
<p>To enable the colored point cloud feature, enter the following command:</p>
<h3><spanclass="section-number">4.8.2.2. </span>Visualizing Colored Point Cloud in RViz2<aclass="headerlink"href="#visualizing-colored-point-cloud-in-rviz2"title="Link to this heading"></a></h3>
<p>To visualize the colored point cloud data:</p>
<olclass="simple">
<li><p>Launch RViz2 following the command execution.</p></li>
<li><p>Add a <codeclass="docutils literal notranslate"><spanclass="pre">PointCloud2</span></code> display panel.</p></li>
<li><p>Choose the <codeclass="docutils literal notranslate"><spanclass="pre">/camera/depth_registered/points</span></code> topic from the list.</p></li>
<li><p>Ensure the fixed frame is set to <codeclass="docutils literal notranslate"><spanclass="pre">camera_link</span></code>.</p></li>
