Server Example: Sensor Suite

Overview

Demonstrates camera, depth, IMU, and LiDAR sensors on ANYmal, including depth-to-point cloud conversion and point cloud visualization. It is the main reference for sensor APIs.

Screenshot

../../../_images/sensors_cpp.png

Target And Source

CMake target: sensor_suite.

Source file: examples/src/server/sensor_suite.cpp.

Run the source-built viewer and then the build-tree example:

./build-examples/examples/rayrai_tcp_viewer
./build-examples/examples/sensor_suite

Details

  • Loads ANYmal with RGB, depth, IMU, and LiDAR sensors.

  • Configures the RGB and depth cameras with MeasurementSource::MANUAL. The TCP viewer renders these requested camera frames, returns BGRA/metric depth buffers to RaisimServer, and displays previews in the selected ANYmal object’s Sensors tab. The source includes a commented switch to RaiSim CPU depth for the front depth camera.

  • Select ANYmal, open Sensors, and use Show frustum to inspect camera pose and range in the main scene.

  • Converts a depth array to 3D points and reads the RaiSim LiDAR/IMU sensors.

  • Streams a rolling LiDAR point cloud and two diagnostic points through RaisimServer.