LIDARSIM is a header-only C library to simulate any lidar, such as Livox, Ouster, etc.
This library allows you to simulate LiDAR sensors in a virtual 3D environment. It's optimized for performance and extensibility, making it suitable for robotics, perception pipelines, and research.
- Header-only, fast, and portable
- Optimized ray casting using AABB BVH trees
- Mesh BVH built per object (parallelizable)
- Load STL and OBJ mesh files
- Extensible to any lidar pattern (Livox, Ouster, Velodyne, etc.)
- Designed for multithreading or GPU acceleration (CUDA/ROCm)
- Simple transformation API for scene and objects
- Create a lidar object and an empty scene.
- Add scene objects (boxes, cylinders, planes, or meshes).
- Apply transformations to objects and rebuild the scene.
- Cast rays using the lidar to generate a point cloud.
- Repeat step 3 to simulate motion or changes.
- CMake
- PCL (Point Cloud Library) (optional)
git clone [email protected]:stm32f303ret6/lidarsim.git
cd lidarsim
mkdir build
cd build
cmake ..
makeThis will generate basic.pcd, you can view it using tools like pcl_viewer
sudo apt-get install pcl-tools
pcl_viewer basic.pcd