Camera in Dart (simulated and real camera)

Hello everybody,

  1. Is it possible to connect real depth camera output (depth image or point cloud) to the scene/world in dart and visualize it as voxel grid? Is this point cloud will be frame or what?

  2. How to get all skeletons in the world to create point-cloud for each skeleton? (following this example for robot point_cloud_example). Or there is a better way to get the point cloud of the scene/world w.r.t to sensor frame?

Thanks in advance