examples/depthcloud.html

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  /**
   * Setup all visualization elements when the page is loaded.
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  function init() {
    // Connect to ROS.
    var ros = new ROSLIB.Ros({
      url : 'ws://localhost:9090'
    });

    // Create the main viewer.
    var viewer = new ROS3D.Viewer({
      divID : 'viewer',
      width : 800,
      height : 600,
      antialias : true
    });

    // Setup a client to listen to TFs.
    var tfClient = new ROSLIB.TFClient({
      ros : ros,
      angularThres : 0.01,
      transThres : 0.01,
      rate : 10.0,
      fixedFrame : '/camera_link'
    });

    // Setup Kinect DepthCloud stream
    depthCloud = new ROS3D.DepthCloud({
      url : 'http://'+window.location.hostname+':9999/stream?topic=/depthcloud_encoded&type=vp8&bitrate=250000&quality=best',
      f : 525.0
    });
    depthCloud.startStream();

    // Create Kinect scene node
    var kinectNode = new ROS3D.SceneNode({
      frameID : '/camera_rgb_optical_frame',
      tfClient : tfClient,
      object : depthCloud
    });
    viewer.scene.add(kinectNode);
  }
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<body onload="init()">
  <h1>Simple DepthCloud Example</h1>
  <p>Run the following commands in the terminal then refresh the page</p>
  <ol>
    <li><tt>roscore</tt></li>
    <li><tt>roslaunch rosbridge_server rosbridge_websocket.launch</tt></li>
    <li><tt>rosrun tf2_web_republisher tf2_web_republisher</tt></li>
    <li><tt>roslaunch openni_launch openni.launch depth_registration:=true</tt></li>
    <li><tt>rosrun web_video_server web_video_server _port:=9999</tt></li>
    <li><tt>rosrun depthcloud_encoder depthcloud_encoder_node _depth:=/camera/depth_registered/image_float _rgb:=/camera/rgb/image_rect_color</tt></li>
    <li><tt>rosrun nodelet nodelet standalone depth_image_proc/convert_metric image_raw:=/camera/depth_registered/image_raw image:=/camera/depth_registered/image_float</tt></li>

  </ol>
  <div id="viewer"></div>
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