Showing observation cloud in viewer

Omniverse Isaac Sim
1

Hello Community,

i successfully completed the Tutorial for Visual SLAM:

Now i want to show the colorful dots observation point clouds in a image viewer

I managed to create a script with opencv in order to process /visual_slam/vis/observations_cloud topic:

External Media

However, it doesn’t match with the observation_cloud in rviz2.
is there a package to show the obervation cloud:

Any ideas?
Thank you very much in advanced ;)