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To see rviz from a camera perspective:

1. Have the RVIZ Displays Pane Open (View > Displays)
2. Click "Add" to add a new display type
3. "Camera" displays your camera image with RVIZ data overlayed, "Image" will just show the raw camera image.
4. When then new display shows up in the list, fill in your "Image Topic" (e.g. /kinect/image_raw)

You should now have a working image window with RVIZ data overlayed.

To see rviz from a camera perspective:

1. Have the RVIZ Displays Pane Open (View > Displays)
2. Click "Add" to add a new display type
3. "Camera" displays your camera image with RVIZ data overlayed, "Image" will just show the raw camera image.
4. When then new display shows up in the list, fill in your "Image Topic" (e.g. /kinect/image_raw)

You should now have a working image window with RVIZ data overlayed.overlaid.