OrbbecSDK_ROS2/en/.doctrees/source/4_application_guide/point_cloud.doctree

€•1,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”hhK
hhhŒa/home/runner/work/OrbbecSDK_ROS2/OrbbecSDK_ROS2/docs/en/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$]”h&]”h(]”Œlanguage”Œbash”Œ	xml:space”Œpreserve”uh*hlhhMhhhh+hKubeh}”(h ]”Œ#command-to-enable-depth-point-cloud”ah"]”h$]”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”…”�”}”(hh‹hhhNhNubah}”(h ]”h"]”h$]”h&]”h(]”uh*hhKhhˆhh+ubh-)�”}”(hŒ`After running the above command, perform the following steps to visualize the depth point cloud:”h]”hŒ`After running the above command, perform the following steps to visualize the depth point cloud:”…”�”}”(hh™hhhNhNubah}”(h ]”h"]”h$]”h&]”h(]”uh*h,hKhhˆhhhh+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 ”…”�”}”(hhÈhhhNhNubhŒliteral”“”)�”}”(hŒPointCloud2”h]”hŒPointCloud2”…”�”}”(hhÒhhhNhNubah}”(h ]”h"]”h$]”h&]”h(]”uh*hÐhhÈhhhh+hKubhŒ	 display.”…”�”}”(hhÈhhhNhNubeh}”(h ]”h"]”h$]”h&]”h(]”uh*h,hKhhÅhhhh+ubah}”(h ]”h"]”h$]”h&]”h(]”uh*h¬hKhh©hhhh+ubh­)�”}”(hhh]”h-)�”}”(hŒ8Select the /camera/depth/points topic for visualization.”h]”(hŒSelect the ”…”�”}”(hhóhhhNhNubhÑ)�”}”(hŒ/camera/depth/points”h]”hŒ/camera/depth/points”…”�”}”(hhûhhhNhNubah}”(h ]”h"]”h$]”h&]”h(]”uh*hÐhhóhhhh+hKubhŒ topic for visualization.”…”�”}”(hhóhhhNhNubeh}”(h ]”h"]”h$]”h&]”h(]”uh*h,hKhhðhhhh+ubah}”(h ]”h"]”h$]”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 ”…”�”}”(hj
hhhNhNubhÑ)�”}”(hŒcamera_link”h]”hŒcamera_link”…”�”}”(hj$
hhhNhNubah}”(h ]”h"]”h$]”h&]”h(]”uh*hÐhj
hhhh+hKubhŒ to properly align the data.”…”�”}”(hj
hhhNhNubeh}”(h ]”h"]”h$]”h&]”h(]”uh*h,hKhj
hhhh+ubah}”(h ]”h"]”h$]”h&]”h(]”uh*h¬hKhh©hhhh+ubeh}”(h ]”h"]”h$]”h&]”h(]”uh*h§hKhhˆhhhh+ubhŒbullet_list”“”)�”}”(hhh]”h­)�”}”(hhh]”h-)�”}”(hŒExample Visualization”h]”hŒstrong”“”)�”}”(hŒExample Visualization”h]”hŒExample Visualization”…”�”}”(hjV
hhhNhNubah}”(h ]”h"]”h$]”h&]”h(]”uh*jT
hjP
hhhh+hKubah}”(h ]”h"]”h$]”h&]”h(]”uh*h,hKhjM
hhhh+ubah}”(h ]”h"]”h$]”h&]”h(]”uh*h¬hKhjJ
hhhh+ubah}”(h ]”h"]”h$]”h&]”h(]”uh*jH
hKhhˆhhhh+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:”…”�”}”(hjv
hhhNhNubah}”(h ]”h"]”h$]”h&]”h(]”uh*h,hKhhˆhhhh+ubh-)�”}”(hŒDepth Point Cloud Visualization”h]”hŒimage”“”)�”}”(hj†
h]”hh…”�”}”(hjŠ
hhhNhNubah}”(h ]”h"]”h$]”h&]”h(]”Œuri”Œ#source/image/point_cloud/image5.jpg”Œalt”j†
Œ
candidates”}”Œ
*”j—
sŒoriginal_uri”Œ../image/point_cloud/image5.jpg”uh*jˆ
hj„
hhhh+hKubah}”(h ]”h"]”h$]”h&]”h(]”uh*h,hKhhˆhhhh+ubeh}”(h ]”Œ&visualizing-depth-point-cloud-in-rviz2”ah"]”h$]”Œ&visualizing depth point cloud in rviz2”ah&]”h(]”uh*h	hKhh<hhhh+ubeh}”(h ]”Œenabling-depth-point-cloud”ah"]”h$]”Œenabling depth point cloud”ah&]”h(]”uh*h	hKhhhhhh+ubh
)�”}”(hhh]”(h)�”}”(hŒEnabling Colored Point Cloud”h]”hŒEnabling Colored Point Cloud”…”�”}”(hj·
hhhNhNubah}”(h ]”h"]”h$]”h&]”h(]”uh*hhKhj´
hh+ubh
)�”}”(hhh]”(h)�”}”(hŒ%Command to Enable Colored Point Cloud”h]”hŒ%Command to Enable Colored Point Cloud”…”�”}”(hjÈ
hhhNhNubah}”(h ]”h"]”h$]”h&]”h(]”uh*hhK hjÅ
hh+ubh-)�”}”(hŒGTo enable the colored point cloud feature, enter the following command:”h]”hŒGTo enable the colored point cloud feature, enter the following command:”…”�”}”(hjÖ
hhhNhNubah}”(h ]”h"]”h$]”h&]”h(]”uh*h,hK"hjÅ
hhhh+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”…”�”}”hjä
sbah}”(h ]”h"]”h$]”h&]”h(]”Œlanguage”Œbash”h~huh*hlhjÅ
hhhh+hKubeh}”(h ]”Œ%command-to-enable-colored-point-cloud”ah"]”h$]”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”…”�”}”(hjÿ
hhhNhNubah}”(h ]”h"]”h$]”h&]”h(]”uh*hhK(hjü
hh+ubh-)�”}”(hŒ*To visualize the colored point cloud data:”h]”hŒ*To visualize the colored point cloud data:”…”�”}”(hj
hhhNhNubah}”(h ]”h"]”h$]”h&]”h(]”uh*h,hK*hjü
hhhh+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$]”h&]”h(]”uh*h,hK,hjhhhh+ubah}”(h ]”h"]”h$]”h&]”h(]”uh*h¬hK,hjhhhh+ubh­)�”}”(hhh]”h-)�”}”(hŒ Add a PointCloud2 display panel.”h]”(hŒAdd a ”…”�”}”(hj8hhhNhNubhÑ)�”}”(hŒPointCloud2”h]”hŒPointCloud2”…”�”}”(hj@hhhNhNubah}”(h ]”h"]”h$]”h&]”h(]”uh*hÐhj8hhhh+hKubhŒ display panel.”…”�”}”(hj8hhhNhNubeh}”(h ]”h"]”h$]”h&]”h(]”uh*h,hK-hj5hhhh+ubah}”(h ]”h"]”h$]”h&]”h(]”uh*h¬hK-hjhhhh+ubh­)�”}”(hhh]”h-)�”}”(hŒ?Choose the /camera/depth_registered/points topic from the list.”h]”(hŒChoose the ”…”�”}”(hjahhhNhNubhÑ)�”}”(hŒ/camera/depth_registered/points”h]”hŒ/camera/depth_registered/points”…”�”}”(hjihhhNhNubah}”(h ]”h"]”h$]”h&]”h(]”uh*hÐhjahhhh+hKubhŒ topic from the list.”…”�”}”(hjahhhNhNubeh}”(h ]”h"]”h$]”h&]”h(]”uh*h,hK.hj^hhhh+ubah}”(h ]”h"]”h$]”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 ”…”�”}”(hjŠhhhNhNubhÑ)�”}”(hŒcamera_link”h]”hŒcamera_link”…”�”}”(hj’hhhNhNubah}”(h ]”h"]”h$]”h&]”h(]”uh*hÐhjŠhhhh+hKubhŒ
.”…”�”}”(hjŠhhhNhNubeh}”(h ]”h"]”h$]”h&]”h(]”uh*h,hK/hj‡hhhh+ubah}”(h ]”h"]”h$]”h&]”h(]”uh*h¬hK/hjhhhh+ubeh}”(h ]”h"]”h$]”h&]”h(]”uh*h§hK,hjü
hhhh+ubjI
)�”}”(hhh]”h­)�”}”(hhh]”h-)�”}”(hŒExample Visualization”h]”jU
)�”}”(hŒExample Visualization”h]”hŒExample Visualization”…”�”}”(hjÀhhhNhNubah}”(h ]”h"]”h$]”h&]”h(]”uh*jT
hj¼hhhh+hKubah}”(h ]”h"]”h$]”h&]”h(]”uh*h,hK1hj¹hhhh+ubah}”(h ]”h"]”h$]”h&]”h(]”uh*h¬hK1hj¶hhhh+ubah}”(h ]”h"]”h$]”h&]”h(]”uh*jH
hK1hjü
hhhh+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:”…”�”}”(hjàhhhNhNubah}”(h ]”h"]”h$]”h&]”h(]”uh*h,hK3hjü
hhhh+ubh-)�”}”(hŒ!Colored Point Cloud Visualization”h]”j‰
)�”}”(hjðh]”hh…”�”}”(hjòhhhNhNubah}”(h ]”h"]”h$]”h&]”h(]”j–
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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	hK
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