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If you really want to use RViz for this (as I'm not entirely sure it's supposed to be used like this), I'd recommend:

• to render arbitrary points of view: use lucasw/rviz_camera_stream: it's an RViz plugin, so you can just add it to your RViz configuration
• to control the camera (focus, zoom level, fov): look at AIS-Bonn/rviz_cinematographer. From the documentation: An rqt plugin to create and edit trajectories for the rviz camera and record its views in a video.

If you really want to use RViz for this (as I'm not entirely sure it's supposed to be used like this), I'd recommend:

• to render arbitrary points of view: use lucasw/rviz_camera_stream: it's an RViz plugin, so you can just add it to your RViz configuration
• to control the camera (focus, zoom level, fov): look at AIS-Bonn/rviz_cinematographer. From the documentation: An rqt plugin to create and edit trajectories for the rviz camera and record its views in a video.

If you really want to use RViz for this (as I'm not entirely sure it's supposed to be used like this), I'd recommend:

• to render arbitrary points of view: use lucasw/rviz_camera_stream: it's an RViz plugin, so you can just add it to your RViz configuration
• to control the camera (focus, zoom level, fov): look at AIS-Bonn/rviz_cinematographer. From the documentation: An rqt plugin to create and edit trajectories for the rviz camera and record its views in a video.

And a comment:

I'm trying to make an AR-Application.

I'd take a look at how previous implementations, such as ros-visualization/oculus_rviz_plugins (forks are more up-to-date), AndreGilerson/rviz_vive, ROSIN FTP: rvis2ar, IntelligentRoboticsLabs/ARViz and others.

If you really want to use RViz for this (as I'm not entirely sure it's supposed to be used like this), I'd recommend:

• to render arbitrary points of view: use lucasw/rviz_camera_stream: it's an RViz plugin, so you can just add it to your RViz configuration
• to control the camera (focus, zoom level, fov): look at AIS-Bonn/rviz_cinematographer. From the documentation: An rqt plugin to create and edit trajectories for the rviz camera and record its views in a video.

And a comment:

I'm trying to make an AR-Application.

I'd take a look at how previous implementations, such as ros-visualization/oculus_rviz_plugins (forks are more up-to-date), AndreGilerson/rviz_vive, ROSIN FTP: rvis2ar, IntelligentRoboticsLabs/ARViz and others.others have approached this.

If you really want to use RViz plugins for this (as I'm not entirely sure it's supposed to be used like this), I'd recommend:

• to render arbitrary points of view: use lucasw/rviz_camera_stream: it's an RViz plugin, so you can just add it to your RViz configuration
• to control the camera (focus, zoom level, fov): look at AIS-Bonn/rviz_cinematographer. From the documentation: An rqt plugin to create and edit trajectories for the rviz camera and record its views in a video.

And a comment:

I'm trying to make an AR-Application.

I'd take a look at how previous implementations, such as ros-visualization/oculus_rviz_plugins (forks are more up-to-date), AndreGilerson/rviz_vive, ROSIN FTP: rvis2ar, IntelligentRoboticsLabs/ARViz and others have approached this.

Or perhaps even reuse some of them.