Point Cloud Example

Summary

• Goal: sample points from a robot mesh and visualize a voxel grid.
• Concepts/APIs: PointCloudShape, VoxelGridShape, ImGui controls.
• Expected output: an ImGui viewer with a point cloud and voxel occupancy.
• Controls: use the ImGui panel; --gui-scale adjusts widget sizing.

This project is dependent on DART. Please make sure a proper version of DART is installed before building this project.

Build Instructions

From this directory:

$ mkdir build
$ cd build
$ cmake ..
$ make

Execute Instructions

Launch the executable from the build directory above:

$ ./{generated_executable}

Follow the instructions detailed in the console.