2025-06-16 23:18:04 +08:00
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# 真实环境点云/深度图仿真(支持CUDA)
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### 1 依赖
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CUDA; ROS; OpenCV; PCL; (如果已经安装ROS依赖基本都满足) yaml-cpp
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```angular2html
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sudo apt-get install libyaml-cpp-dev
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```
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### 2 编译
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```angular2html
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catkin build
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```
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2025-10-20 13:56:22 +08:00
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注：在CmakeList中采用`cuda_select_nvcc_arch_flags`自动检测，如果遇到编译错误，你需要手动设置CUDA架构，请将CmakeList 25行起：
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```
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cuda_select_nvcc_arch_flags(ARCH_FLAGS)
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...
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endif()
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```
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替换为(5060 GPU是120, 需要根据自己设备设置)：
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```
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set(ARCH_FLAGS "-gencode arch=compute_120,code=sm_120")
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```
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2025-06-16 23:18:04 +08:00
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### 3 运行
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```angular2html
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source devel/setup.bash
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# GPU版本 (推荐, RTX 3060 深度输出 > 1000fps)
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rosrun sensor_simulator sensor_simulator_cuda
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2025-10-20 13:56:22 +08:00
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# CPU版本 (资源占用高，仅供GPU编译失败无法解决时测试)
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rosrun sensor_simulator sensor_simulator
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2025-06-16 23:18:04 +08:00
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```
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传感器参数以及点云环境修改见[config](config/config.yaml)，重要参数说明:
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```
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# 一些话题
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odom_topic: "/sim/odom"
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depth_topic: "/depth_image"
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lidar_topic: "/lidar_points"
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# 使用预先构建的点云地图还是随机地图
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random_map: true
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2025-10-20 13:56:22 +08:00
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# 随机地图配置
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maze_type: 5 # 1: 溶洞 2: 柱子 3:迷宫 5:森林 6:房间
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2025-06-16 23:18:04 +08:00
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```
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### 4 仿真位置发布与简单可视化（可选）
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```angular2html
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cd src/sensor_simulator
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python sim_odom.py
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cd src/sensor_simulator
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rviz -d rviz.rviz
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```
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### 5 实时性与资源占用
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cpu 版本 (i7-9700)：
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深度图0.02s, 点云0.01s
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gpu 版本 (RTX 3060)：
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深度图0.001s, 点云0.001s
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GPU版资源占用(开30HZ)：
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### 6 示例场景
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<table>
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<tr>
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<td align="center">
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<img src="img/forest.png" alt="Image 1" style="width:100%;"/>
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<p>1. realworld forest</p>
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</td>
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<td align="center">
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<img src="img/building.png" alt="Image 2" style="width:82%;"/>
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<p>2. realworld building</p>
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</td>
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</tr>
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<tr>
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<td align="center">
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<img src="img/perlin3D.png" alt="Image 3" style="width:100%;"/>
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<p>3. 3D perlin</p>
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</td>
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<td align="center">
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<img src="img/random_forest.png" alt="Image 4"style="width:100%;"/>
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<p>4. random forest</p>
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</td>
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</tr>
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<tr>
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<td align="center">
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<img src="img/random_room.png" alt="Image 5" style="width:100%;"/>
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<p>5. random room</p>
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</td>
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<td align="center">
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<img src="img/random_maze.png" alt="Image 6" style="width:100%;"/>
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<p>6. random maze</p>
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</td>
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</tr>
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</table>
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**注释:**
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1. GPU版本地图无边界可无限延伸; CPU版本地图有边界（可选择复制地图几份，已弃用）
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### acknowledgment
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Some maps (3D Perlin, random maze) are generated based on: https://github.com/HKUST-Aerial-Robotics/mockamap, thanks for their excellent work!
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