Nvidia Isaac ROS Visual SLAM with OpenCV

Question

Hey Robotics Community,

i successfully completed the Tutorial for Visual SLAM:

https://nvidia-isaac-ros.github.io/concepts/visual_slam/cuvslam/tutorial_isaac_sim.html

Now i want to show the colorful dots observation point clouds in a camera viewer (Link to the video: https://www.youtube.com/watch?v=mNTi1osPSIA):

I managed to create a script with openCV which subscribe to the /visual_slam/vis/observations_cloud topic :

https://streamable.com/5mtfnk

https://streamable.com/w769sz

However, it doesn’t match with the observation_cloud in rviz2.

Any ideas?

Thank you very much in advanced ;)