Server Example: Heightmap From PNG

Overview

Loads a PNG heightmap (Zurich dataset) and drops ANYmal on it. This is the reference for heightmap-from-image workflows.

Screenshot

heightmap_from_png example

Target

CMake target: heightmap_from_png.

Run

Run the build-tree executable:

./build-examples/examples/heightmap_from_png

On Windows, run heightmap_from_png.exe instead. This example uses RaisimServer. Start rayrai_tcp_viewer and connect to port 8080.

Details

  • Loads rsc/xmlScripts/heightMaps/zurichHeightMap.png directly as a 500 m × 500 m heightmap with a height scale and offset.

  • Drops ANYmal onto the terrain and sets a terrain appearance.

  • Reference for World::addHeightMap using images; see Height Map.