sszxc/planarcarsim

A planar car simulation with on-board cameras for ground imaging and navigation

PlanarCarSim ·

Forked from project MultiCam-Simulation.

TODO-List

• Add track map
• Use one imshow window
• Add car model
• Add real car kinematics
• multi-threading for car kinematics
• Add smooth view controller
• Add navigation algorithm

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Below is the original README.md.

• simulate the imaging process for multiple cameras in 3D space
• adjust internal and external coefficients freely
• simulate lens distortion in real time
• support keyboard and Xbox controller
• add AprilTag for additional experiments

Dependencies

This project is written in Python and relies on OpenCV, numpy.

The pupil_apriltags library is used for the detection of AprilTag, and the pygame library is used for compatibility with Xbox controllers. Both of these are optional if you don't need the relevant function.

Quick Start

Follow the commands below to install and start the simulation.

git clone https://github.com/sszxc/MultiCam-Simulation.git
cd MultiCam-Simulation/
python -m pip install -r requirements.txt
python main.py

Now use your keyboard or Xbox controller to control the cameras and images from each camera will be displayed in real time.

	XY axis	Z axis	Optical-axis	Reset	Switch Cameras	Exit
Keyboard	WASD	ZX	UJ IK OL	1	2, 3	Q
XBox Controller	L-Thumbstick	D-Pad	R-Thumbstick, LT, RT	B	L, R	A

Screenshots