You can convert Depth Image to 3D PointCloud. Take a look at the results displayed on Rviz Tool.

Follow step by step below
1. Get depth image from message
2. Calculate point cloud object(pcl::PointCloud ) from depth image
3. Assign point cloud object to ROS PointCloud2 message
4. Publish ROS message

#ROS #depth #camera #drone #image #simulation #pointcloud #pcl::PointCloud #pcl::PointXYZ #flightmare

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