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<title>4.10. Enabling and Visualizing Point Cloud in ROS 2 &mdash; OrbbecSDK V2 ROS2 Wrapper documentation</title>
<title>4.8. Enabling and Visualizing Point Cloud in ROS 2 &mdash; OrbbecSDK V2 ROS2 Wrapper documentation</title>
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<li class="toctree-l3"><a class="reference internal" href="topics.html#device-status-diagnostics">4.3.4. Device Status &amp; Diagnostics</a></li>
</ul>
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<li class="toctree-l2"><a class="reference internal" href="coordinate_systems.html">4.4. ROS2 Robot vs Camera Optical Coordination Systems</a></li>
<li class="toctree-l2"><a class="reference internal" href="coordinate_systems.html#using-ros2-tf-tools">4.5. Using ROS2 TF Tools</a><ul>
<li class="toctree-l3"><a class="reference internal" href="coordinate_systems.html#viewing-the-tf-tree-structure">4.5.1. Viewing the TF Tree Structure</a></li>
<li class="toctree-l3"><a class="reference internal" href="coordinate_systems.html#visualizing-tf-tree-with-rviz2">4.5.2. Visualizing TF Tree with rviz2</a></li>
<li class="toctree-l2"><a class="reference internal" href="coordinate_systems.html">4.4. ROS2 Robot Coordinate System vs Camera Optical Coordinate System</a><ul>
<li class="toctree-l3"><a class="reference internal" href="coordinate_systems.html#using-ros2-tf-tools">4.4.1. Using ROS2 TF Tools</a><ul>
<li class="toctree-l4"><a class="reference internal" href="coordinate_systems.html#view-tf-tree-structure">4.4.1.1. View TF Tree Structure</a></li>
<li class="toctree-l4"><a class="reference internal" href="coordinate_systems.html#visualize-tf-tree-in-rviz2">4.4.1.2. Visualize TF Tree in rviz2</a></li>
</ul>
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<li class="toctree-l2"><a class="reference internal" href="coordinate_systems.html#camera-tf-calculation-and-publishing-mechanism">4.6. Camera TF Calculation and Publishing Mechanism</a><ul>
<li class="toctree-l3"><a class="reference internal" href="coordinate_systems.html#core-function-obcameranode-calcandpublishstatictransform">4.6.1. Core Function: <code class="docutils literal notranslate"><span class="pre">OBCameraNode::calcAndPublishStaticTransform()</span></code></a></li>
<li class="toctree-l3"><a class="reference internal" href="coordinate_systems.html#quaternion-initialization-and-coordinate-system-transformation">4.6.2. Quaternion Initialization and Coordinate System Transformation</a></li>
<li class="toctree-l3"><a class="reference internal" href="coordinate_systems.html#obtaining-device-information-and-base-stream">4.6.3. Obtaining Device Information and Base Stream</a></li>
<li class="toctree-l3"><a class="reference internal" href="coordinate_systems.html#iterating-through-all-streams-and-calculating-relative-transformations">4.6.4. Iterating Through All Streams and Calculating Relative Transformations</a></li>
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<li class="toctree-l3"><a class="reference internal" href="coordinate_systems.html#publishing-extrinsics-from-depth-to-other-sensors">4.6.7. Publishing Extrinsics from Depth to Other Sensors</a></li>
<li class="toctree-l3"><a class="reference internal" href="coordinate_systems.html#camera-tf-calculation-and-publishing-mechanism">4.4.2. Camera TF Calculation and Publishing Mechanism</a><ul>
<li class="toctree-l4"><a class="reference internal" href="coordinate_systems.html#core-function-obcameranode-calcandpublishstatictransform">4.4.2.1. Core Function: <code class="docutils literal notranslate"><span class="pre">OBCameraNode::calcAndPublishStaticTransform()</span></code></a></li>
<li class="toctree-l4"><a class="reference internal" href="coordinate_systems.html#function-breakdown">4.4.2.2. Function Breakdown</a></li>
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<li class="toctree-l2"><a class="reference internal" href="camera_sensor_structure.html">4.7. Camera sensor structure</a></li>
<li class="toctree-l2"><a class="reference internal" href="tf_transformations.html">4.8. TF from coordinate A to coordinate B:</a></li>
<li class="toctree-l2"><a class="reference internal" href="compressed_image.html">4.9. Compressed Image</a></li>
<li class="toctree-l2 current"><a class="current reference internal" href="#">4.10. Enabling and Visualizing Point Cloud in ROS 2</a><ul>
<li class="toctree-l3"><a class="reference internal" href="#enabling-depth-point-cloud">4.10.1. Enabling Depth Point Cloud</a><ul>
<li class="toctree-l4"><a class="reference internal" href="#command-to-enable-depth-point-cloud">4.10.1.1. Command to Enable Depth Point Cloud</a></li>
<li class="toctree-l4"><a class="reference internal" href="#visualizing-depth-point-cloud-in-rviz2">4.10.1.2. Visualizing Depth Point Cloud in RViz2</a></li>
</ul>
</li>
<li class="toctree-l3"><a class="reference internal" href="#enabling-colored-point-cloud">4.10.2. Enabling Colored Point Cloud</a><ul>
<li class="toctree-l4"><a class="reference internal" href="#command-to-enable-colored-point-cloud">4.10.2.1. Command to Enable Colored Point Cloud</a></li>
<li class="toctree-l4"><a class="reference internal" href="#visualizing-colored-point-cloud-in-rviz2">4.10.2.2. Visualizing Colored Point Cloud in RViz2</a></li>
<li class="toctree-l2"><a class="reference internal" href="camera_sensor_structure.html">4.5. Camera sensor structure</a></li>
<li class="toctree-l2"><a class="reference internal" href="tf_transformations.html">4.6. TF from coordinate A to coordinate B:</a></li>
<li class="toctree-l2"><a class="reference internal" href="compressed_image.html">4.7. Compressed Image</a></li>
<li class="toctree-l2 current"><a class="current reference internal" href="#">4.8. Enabling and Visualizing Point Cloud in ROS 2</a><ul>
<li class="toctree-l3"><a class="reference internal" href="#enabling-depth-point-cloud">4.8.1. Enabling Depth Point Cloud</a><ul>
<li class="toctree-l4"><a class="reference internal" href="#command-to-enable-depth-point-cloud">4.8.1.1. Command to Enable Depth Point Cloud</a></li>
<li class="toctree-l4"><a class="reference internal" href="#visualizing-depth-point-cloud-in-rviz2">4.8.1.2. Visualizing Depth Point Cloud in RViz2</a></li>
</ul>
</li>
<li class="toctree-l3"><a class="reference internal" href="#enabling-colored-point-cloud">4.8.2. Enabling Colored Point Cloud</a><ul>
<li class="toctree-l4"><a class="reference internal" href="#command-to-enable-colored-point-cloud">4.8.2.1. Command to Enable Colored Point Cloud</a></li>
<li class="toctree-l4"><a class="reference internal" href="#visualizing-colored-point-cloud-in-rviz2">4.8.2.2. Visualizing Colored Point Cloud in RViz2</a></li>
</ul>
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<div itemprop="articleBody">
<div class="lang-switch" style="margin:0 0 1em 0; font-size:0.9em;"><a class="lang-other" href="#">中文</a> | <a class="lang-current" href="#">English</a></div><script>(function(){var p=window.location.pathname;var isEn=p.indexOf('/en/')!==-1 && p.indexOf('/zh/')===-1;if(p.indexOf('/zh/')!==-1) isEn=false;var other = isEn ? p.replace(/\/en\//, '/zh/') : p.replace(/\/zh\//, '/en/');var current=p;var sw=document.querySelector('.lang-switch'); if(!sw) return;var o=sw.querySelector('.lang-other'); var c=sw.querySelector('.lang-current');if(isEn){ o.textContent='中文'; c.textContent='English'; } else { o.textContent='English'; c.textContent='中文'; }o.setAttribute('href', other); c.setAttribute('href', current);})();</script><section id="enabling-and-visualizing-point-cloud-in-ros-2">
<h1><span class="section-number">4.10. </span>Enabling and Visualizing Point Cloud in ROS 2<a class="headerlink" href="#enabling-and-visualizing-point-cloud-in-ros-2" title="Link to this heading"></a></h1>
<h1><span class="section-number">4.8. </span>Enabling and Visualizing Point Cloud in ROS 2<a class="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>
<section id="enabling-depth-point-cloud">
<h2><span class="section-number">4.10.1. </span>Enabling Depth Point Cloud<a class="headerlink" href="#enabling-depth-point-cloud" title="Link to this heading"></a></h2>
<h2><span class="section-number">4.8.1. </span>Enabling Depth Point Cloud<a class="headerlink" href="#enabling-depth-point-cloud" title="Link to this heading"></a></h2>
<section id="command-to-enable-depth-point-cloud">
<h3><span class="section-number">4.10.1.1. </span>Command to Enable Depth Point Cloud<a class="headerlink" href="#command-to-enable-depth-point-cloud" title="Link to this heading"></a></h3>
<h3><span class="section-number">4.8.1.1. </span>Command to Enable Depth Point Cloud<a class="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>
<div class="highlight-bash notranslate"><div class="highlight"><pre><span></span>ros2<span class="w"> </span>launch<span class="w"> </span>orbbec_camera<span class="w"> </span>gemini_330_series.launch.py<span class="w"> </span>enable_point_cloud:<span class="o">=</span><span class="nb">true</span>
</pre></div>
</div>
</section>
<section id="visualizing-depth-point-cloud-in-rviz2">
<h3><span class="section-number">4.10.1.2. </span>Visualizing Depth Point Cloud in RViz2<a class="headerlink" href="#visualizing-depth-point-cloud-in-rviz2" title="Link to this heading"></a></h3>
<h3><span class="section-number">4.8.1.2. </span>Visualizing Depth Point Cloud in RViz2<a class="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>
<ol class="simple">
<li><p>Open RViz2.</p></li>
@@ -391,16 +388,16 @@
</section>
</section>
<section id="enabling-colored-point-cloud">
<h2><span class="section-number">4.10.2. </span>Enabling Colored Point Cloud<a class="headerlink" href="#enabling-colored-point-cloud" title="Link to this heading"></a></h2>
<h2><span class="section-number">4.8.2. </span>Enabling Colored Point Cloud<a class="headerlink" href="#enabling-colored-point-cloud" title="Link to this heading"></a></h2>
<section id="command-to-enable-colored-point-cloud">
<h3><span class="section-number">4.10.2.1. </span>Command to Enable Colored Point Cloud<a class="headerlink" href="#command-to-enable-colored-point-cloud" title="Link to this heading"></a></h3>
<h3><span class="section-number">4.8.2.1. </span>Command to Enable Colored Point Cloud<a class="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>
<div class="highlight-bash notranslate"><div class="highlight"><pre><span></span>ros2<span class="w"> </span>launch<span class="w"> </span>orbbec_camera<span class="w"> </span>gemini_330_series.launch.py<span class="w"> </span>enable_colored_point_cloud:<span class="o">=</span><span class="nb">true</span>
</pre></div>
</div>
</section>
<section id="visualizing-colored-point-cloud-in-rviz2">
<h3><span class="section-number">4.10.2.2. </span>Visualizing Colored Point Cloud in RViz2<a class="headerlink" href="#visualizing-colored-point-cloud-in-rviz2" title="Link to this heading"></a></h3>
<h3><span class="section-number">4.8.2.2. </span>Visualizing Colored Point Cloud in RViz2<a class="headerlink" href="#visualizing-colored-point-cloud-in-rviz2" title="Link to this heading"></a></h3>
<p>To visualize the colored point cloud data:</p>
<ol class="simple">
<li><p>Launch RViz2 following the command execution.</p></li>
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