From b66b52c59fe5cd8d6a17fa44dee78a8e26e7b728 Mon Sep 17 00:00:00 2001 From: Qianyue He <984041003@qq.com> Date: Wed, 8 Jun 2022 11:36:53 +0800 Subject: [PATCH] Updated README.md --- README.md | 19 +++++++++++++++---- README/editor.png | Bin 0 -> 29002 bytes README/simulator.png | Bin 0 -> 36325 bytes assets/editor.png | Bin 0 -> 29002 bytes assets/simulator.png | Bin 0 -> 36325 bytes 5 files changed, 15 insertions(+), 4 deletions(-) create mode 100644 README/editor.png create mode 100644 README/simulator.png create mode 100644 assets/editor.png create mode 100644 assets/simulator.png diff --git a/README.md b/README.md index 7838dd9..9434a25 100644 --- a/README.md +++ b/README.md @@ -1,4 +1,4 @@ -# LSMv2 (WIP) +# LSMv2 **L**iDAR **S**i**M**ulator v2: Interactive 2D LiDAR scanner simulator version II. Implemented via Rust and CUDA. ## Functionalities & Features @@ -6,14 +6,26 @@ - Visualization via Rust [nannou](https://github.com/nannou-org/nannou) (implemented in OpenGL), enabling smooth and limitless visualization. - For example, the older simulation visualization implemented in OpenCV is restricted to pixel plotting: unable (or very tricky) to zoom in\out, rotate and translate the canvas. - Nannou has no limits w.r.t canvas operations and it is extremely efficient due to the bottom layer implementation of OpenGL. + - `nannou_egui` crate used. Intergrated Rust EGUI GUI implementation, easy to use & good looking. + +| GUI for editor | GUI for simulator | +| :--------------------: | :--------------------------------------------------: | +| ![](assets/editor.png) | | + - Smooth mouse & keyboard control of the simulated scanner (via nannou API). - Mixed programing: Rust & CUDA C++: Enabling accelerated 2d LiDAR ray trace. - Fast collision detection: scanner will not be allowed to drive into the obstacles - Coarse occupancy grid (indicates the obstacle id of the grid if the grid is occupied) - Use the id to access the contour of the obstacle and check whether the scanner is going to move inside the obstacle (point in polygon test) - - An efficient algorithm inplemented via Rust + - An efficient algorithm implemented via Rust +- Better map editor (than version I, the old LiDARSim2D) + - Canvas translation, rotation and scaling are supported. + - Three modes: polygon, straight line (axis-aligned), rectangle (axis-aligned) + - Drawn point selection, movement, deletion. + - Easy to edit the previously drawn map. Trajectory display. + - Screen shot API (also available in simulator) - Rust implementation: Safer, clearer and efficiency guaranteed! (Personally, I prefer Rust than C++) -- configuration parser: modify the configurations of LiDAR, map, etc in a `.json` file without compiling! +- configuration parser: modify the configurations of LiDAR, map, etc. in a `.json` file without compiling! ## TODO @@ -30,7 +42,6 @@ - [ ] More available sensors like Odometry and IMU - [ ] Fancier Future - [ ] Network API: multiple scanners. - - [ ] Unified GUI: softwarization! - [ ] Visualizer. 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