Rayrai Example: Depth Camera

Overview

Renders a linear depth texture from the Go1 depth camera and shows it in ImGui with a frustum overlay. This is the recommended RGB/depth sensor path when rayrai is available. The runnable path reads rendered depth from rayrai; the commented World::captureDepthCamera block is kept only as a deterministic CPU fallback for headless ray-query use.

Screenshot

rayrai_depth_camera example

Binary

Installed executable: rayrai_depth_camera.

Run

Run the installed executable:

<raisim-install>/bin/rayrai_depth_camera

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

Details

  • Loads Go1 with the D455 module and fetches the depth sensor.

  • Renders a linear depth texture and shows it in an ImGui window.

  • Reads the rayrai depth buffer with raisin::Camera::getRawImage.

  • Keeps a commented CPU World::captureDepthCamera fallback for depth, segmentation object id, optional hit point per pixel, timestamp, and deterministic depth noise when rayrai rendering is not available.

  • Places a sphere and box in front of the camera using its pose.