Rayrai Example: LiDAR Pointcloud

Overview

Attaches a Livox LiDAR module to Go1 and visualizes the scan as a point cloud every frame. Nearby primitives and a static mesh generate richer returns.

Screenshot

Target

CMake target: rayrai_lidar_pointcloud.

Run

Run the build-tree executable:

./build-examples/examples/rayrai_lidar_pointcloud

On Windows, run rayrai_lidar_pointcloud.exe instead. This example renders in process with rayrai and does not need rayrai_tcp_viewer.

Details

• Loads Go1 with the livox_lidar module and updates the scan each frame.
• Transforms LiDAR points from the sensor frame to the world frame.
• Visualizes the scan as a raisin::PointCloud; the point size is set through PointCloud::pointSize.