Rayrai Example: Complete Showcase

Overview

Comprehensive rayrai showcase with Go1, Livox LiDAR, D455 RGB/depth sensors, heightmap terrain, YCB objects, custom visuals, instanced geometry, and a live LiDAR point cloud. Use it as an end-to-end check for rayrai and sensor rendering.

Screenshot

Target

CMake target: rayrai_complete_showcase.

Run

Run the build-tree executable:

./build-examples/examples/rayrai_complete_showcase

On Windows, run rayrai_complete_showcase.exe instead. This example uses the in-process rayrai renderer (no external client required).

Details

Loads a sensored ANYmal, heightmap terrain, primitives, and YCB objects.
Updates LiDAR scans into a point cloud and renders RGB/depth sensors.
Shows camera frustums and raw sensor buffers in ImGui.

Frame capture

The example can write its rendered frames (scene plus the sensor panels) to disk so the documentation GIF can be regenerated. Capture is off unless RAYRAI_SHOWCASE_CAPTURE_DIR is set; a normal run never reads the framebuffer back. Frames are written as binary PPM, which ffmpeg reads directly.

Environment variable	Effect
`RAYRAI_SHOWCASE_CAPTURE_DIR`	Output directory. Setting it enables capture; the example exits once the requested frame count is written.
`RAYRAI_SHOWCASE_CAPTURE_FRAMES`	Number of frames to write (default 150).
`RAYRAI_SHOWCASE_CAPTURE_SKIP`	Rendered frames to skip before capturing (default 90), so assets and sensor buffers are populated in the first captured frame.
`RAYRAI_SHOWCASE_CAPTURE_EVERY`	Capture every `N`-th frame (default 1). The loop advances one physics step per rendered frame, so a stride above 1 is what keeps the captured sequence from playing back in slow motion. At the default 5 ms time step, stride 16 puts 80 ms of simulation in every frame, which is exactly real time at 12.5 fps.

RAYRAI_SHOWCASE_CAPTURE_DIR=/tmp/showcase_frames \
RAYRAI_SHOWCASE_CAPTURE_FRAMES=75 \
RAYRAI_SHOWCASE_CAPTURE_SKIP=120 \
RAYRAI_SHOWCASE_CAPTURE_EVERY=16 \
  ./build-examples/examples/rayrai_complete_showcase

ffmpeg -framerate 12.5 -i /tmp/showcase_frames/frame_%04d.ppm \
  -filter_complex "[0:v] scale=954:540:flags=lanczos,split [a][b];\
                   [a] palettegen=stats_mode=diff [p];\
                   [b][p] paletteuse=dither=bayer:bayer_scale=5:diff_mode=rectangle" \
  -loop 0 docs/image/rayrai_complete_showcase.gif