Application: pLidarSim

Brief Synopsis:

GPU-accelerated lidar simulator.

Authors:

  • David Battle

Groups:

Dependencies:

  • NVIDIA Optix 5.1.1, Arrayfire 3.6.2, CUDA 10.2, Morse.

Distribution:

  • TBD

Documentation:

Contact Email:

  • david.battle@missionsystems.com.au

Function:

pLidarSim is a GPU-accelerated lidar simulator capable of handling complex scenes, dynamic objects, surface textures and large numbers of beams from multiple lidars in real-time. Currently, the simulated point data is sent as 64-bit binary PCL PointXYZRGBA values with no header. pLidarSim requires the use of Mission Systems customisations to the Morse Modular Open Robots Simulation Engine to replicate the game engine scenegraph in GPU memory.