a problem about publish data in ROS

[sammyjan]

I want to publish pointcloud,camera pose and some other data in ROS, to make them can be visualised in the Rviz. I have read the codes for a few days, but I still don't have any ideas.

[EdwinvanEmmerik]

Are you able to see the map in Pangolin in 3D? Currently Pangolin is only demonstrating the maps in 2D from my webcam (I know it's not optimal, but this shouldn't cause the 2D problem).