# voxl-cam-ros stereo to PCL or depth image

Source: https://forum.modalai.com/topic/15/voxl-cam-ros-stereo-to-pcl-or-depth-image
Category: VOXL SDK and Software (https://forum.modalai.com/category/47/voxl-sdk-and-software)
Posted: 2020-09-29 19:01:55 UTC by rapit
Replies: 2 · Views: 1387

## rapit · 2020-09-29 19:01:55 UTC

Hi,
is there an example on how to get a point cloud or a depth image from the calibrated stereo camera? It should be simple but I couldn't find an example and my attempts so far failed: I simply tried to run the `voxl-cam-ros` node and pipe it into a  [stereo_image_proc](http://wiki.ros.org/stereo_image_proc) node on my host machine (wifi). This results in inconsistent behavior, as the rate is very slow and the node complains that `/image` and `/camera_info` topics not being synchronized. Also, if the PCL appears in rviz, it looks completely wrong, it has nothing to do with the images. So I guess it won't work "out of the box" this way. I didn't look into it further, maybe someone already did this?

Thanks!

## Reply by modaltb (ModalAI staff) · 2020-09-29 19:50:15 UTC

Hi @rapit ,

We don't have a VOXL version going yet, but this should be close: https://github.com/ATLFlight/dfs-ros-example

## Reply by rapit · 2020-09-30 07:52:54 UTC

That node works like a charm, thank you so much!