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‎README.md

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# rmagine
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# Rmagine
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These docs are built with [MkDocs](https://mkdocs.org) and published to [uos.github.io/rmagine_docs](https://uos.github.io/rmagine_docs)
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‎docs/extra/data.md

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## sphere.ply
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![sphere.ply](../resources/img/rmagine_dat_sphere.png)
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![sphere.ply](/resources/img/rmagine_dat_sphere.png)
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```bash
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user@pc:~/rmagine/build$ ./bin/rmagine_map_info ../dat/sphere.ply
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## triangle.ply
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![triangle.ply](../resources/img/rmagine_dat_triangle.png)
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![triangle.ply](/resources/img/rmagine_dat_triangle.png)
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```bash
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user@pc:~/rmagine/build$ ./bin/rmagine_map_info ../dat/triangle.ply
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## box_rot_trans_scaled.dae
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![box_rot_trans_scaled.dae](../resources/img/rmagine_dat_box_rot_trans_scaled.png)
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![box_rot_trans_scaled.dae](/resources/img/rmagine_dat_box_rot_trans_scaled.png)
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```bash
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user@pc:~/rmagine/build$ ./bin/rmagine_map_info ../dat/box_rot_trans_scaled.dae
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## two_cubes.dae
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![two_cubes.dae](../resources/img/rmagine_dat_two_cubes.png)
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![two_cubes.dae](/resources/img/rmagine_dat_two_cubes.png)
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```bash
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user@pc:~/rmagine/build$ ./bin/rmagine_map_info ../dat/two_cubes.dae
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## many_objects.dae
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![many_objects.dae](../resources/img/rmagine_dat_many_objects.png)
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![many_objects.dae](/resources/img/rmagine_dat_many_objects.png)
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```bash
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user@pc:~/rmagine/build$ ./bin/rmagine_map_info ../dat/many_objects.dae

‎docs/extra/tools.md

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| | |
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|:----:|:----:|
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| ![plane](../resources/img/rmagine_synthetic_plane.png) | ![cube](../resources/img/rmagine_synthetic_cube.png) |
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| ![plane](/resources/img/rmagine_synthetic_plane.png) | ![cube](/resources/img/rmagine_synthetic_cube.png) |
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| `rmagine_synthetic plane plane.ply` | `rmagine_synthetic cube cube.ply` |
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| ![sphere](../resources/img/rmagine_synthetic_sphere.png) | ![cylinder](../resources/img/rmagine_synthetic_cylinder.png) |
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| ![sphere](/resources/img/rmagine_synthetic_sphere.png) | ![cylinder](/resources/img/rmagine_synthetic_cylinder.png) |
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| `rmagine_synthetic sphere sphere.ply` | `rmagine_synthetic cylinder cylinder.ply` |

‎docs/getting_started/installation.md

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## Backbones
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![rmagine_backends](../resources/img/rmagine_backends.png)
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![rmagine_backends](/resources/img/rmagine_backends.png)
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Rmagine provides an interface to integrate ray tracing libraries, we call backbones. All of these backbones are optional. So far we integrated Intel Embree and NVIDIA OptiX.
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```
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<!-- For older Embree versions we refer to [this](Supplementary-Embree). -->
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For older Embree versions we refer to [this](/extra/embree3).
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### OptiX Backbone (optional)
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‎docs/getting_started/maps.md

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# Maps
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Triangle Meshes can be stored in various file formats. Rmagine utilizes the [Open Asset Import Library (assimp)](https://github.com/assimp/assimp) in order to support a wide range of well known file formats. After loading the raw scene graph buffers with Assimp it is converted into Rmagines internal scene graph structure. Dependend on the computation backend `Embree` or `OptiX` the scene graph is prepared for fast ray traversals by building the required acceleration structures.
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Triangle Meshes can be stored in various file formats. Rmagine utilizes the [Open Asset Import Library (assimp)](https://github.com/assimp/assimp) in order to support a wide range of well known file formats. After loading the raw scene graph buffers with Assimp it is converted into Rmagines internal scene graph structure. Dependent on the computation backend `Embree` or `OptiX` the scene graph is prepared for fast ray traversals by building the required acceleration structures.
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## Embree Map
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## Properties
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After loading, the map consists of a complete scene graph. It then usually passed to a simulator (see next gettingstarted-sections).
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The advanced [Map](library/Map)-section describes how to modify or create the internal maps from scratch.
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After loading, the map consists of a complete scene graph. It then usually passed to a simulator (see next "Getting Started"-sections).
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The advanced [Map](library/map)-section describes how to modify or create the internal maps from scratch.

‎docs/getting_started/noise.md

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Currently noise models are implemented as postprocessing steps that modify the simulated ranges. Any of the following noise models can be chained to generate complex combined noise models.
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The Noise models are implented equally both on GPU and CPU.
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Thus the developer can manage to apply noise to the data without downloading or uploading the data from GPU to CPU or vice versa.
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The Noise models are implemented equally both for GPU and CPU.
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Thus the developer can apply noise to the data without downloading or uploading the data from GPU to CPU or vice versa.
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1. Gaussian Noise
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| `stddev` | standard deviation $\sigma$ of normal distributed noise |
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![rmagine_noise_gaussian](../resources/img/rmagine_noise_gaussian.png)
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![rmagine_noise_gaussian](/resources/img/rmagine_noise_gaussian.png)
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Example CPU:
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| `stddev` | standard deviation $\sigma$ of normal distributed noise |
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| `range_exp` | range exponent $c$ to compute range based stddev: $ \sigma_r = \sigma \cdot r^{c} $ |
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![rmagine_noise_rel_gaussian](../resources/img/rmagine_noise_rel_gaussian.png)
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![rmagine_noise_rel_gaussian](/resources/img/rmagine_noise_rel_gaussian.png)
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Example CPU:
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| `return_prob` | Probability of a ray hitting dust returns to sender depending on particle distance |
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![rmagine_noise_dust](../resources/img/rmagine_noise_dust.png)
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![rmagine_noise_dust](/resources/img/rmagine_noise_dust.png)
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Example CPU:

‎docs/getting_started/overview.md

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```latex
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@inproceedings{mock2023rmagine,
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title={Rmagine: 3D Range Sensor Simulation in Polygonal Maps via Ray Tracing for Embedded Hardware on Mobile Robots},
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title={{Rmagine: 3D Range Sensor Simulation in Polygonal Maps via Ray Tracing for Embedded Hardware on Mobile Robots}},
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author={Mock, Alexander and Wiemann, Thomas and Hertzberg, Joachim},
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booktitle={IEEE International Conference on Robotics and Automation (ICRA)},
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year={2023}

‎docs/getting_started/problem_modelling.md

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The general computing flow is as follows.
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![rmagine_example](../resources/img/rmagine.drawio.png)
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![rmagine_example](/resources/img/rmagine.drawio.png)
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Tsb is the transform from sensor to base frame. Or spoken: The sensor pose relative to the robot base. The map can be either a pointer to an `EmbreeMap` or `OptixMap`. The Prefix of the `Simulator` is either `Embree` for CPU computation or `Optix` for GPU computation. The suffix of the Simulator is dependend on which sensor model you want to simulate. A few examples:
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Tsb is the transform from sensor to base frame. Or spoken: The sensor pose relative to the robot base. The map can be either a pointer to an `EmbreeMap` or `OptixMap`. The Prefix of the `Simulator` is either `Embree` for CPU computation or `Optix` for GPU computation. The suffix of the Simulator is dependent on which sensor model you want to simulate. A few examples:
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- `SphereSimulatorEmbree` - Simulate a velodyne on CPU
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![rmagine_example_1](../resources/img/rmagine_example_1.drawio.png)
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![rmagine_example_1](/resources/img/rmagine_example_1.drawio.png)
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```cpp
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![rmagine_example_1](../resources/img/rmagine_example_2.drawio.png)
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![rmagine_example_1](/resources/img/rmagine_example_2.drawio.png)
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![rmagine_example_1](../resources/img/rmagine_example_3.drawio.png)
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![rmagine_example_1](/resources/img/rmagine_example_3.drawio.png)
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```cpp

‎docs/getting_started/sensors.md

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Rmagine supports several configurations of commonly used range sensors as Spherical, Pinhole or even fully customizable O1Dn and OnDn models.
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The following image shows how the results could look like using these different models.
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![sensor_models_3d](../resources/img/sensor_models_3d.png)
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![sensor_models_ortho](../resources/img/sensor_models_ortho.png)
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![sensor_models_3d](/resources/img/sensor_models_3d.png)
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![sensor_models_ortho](/resources/img/sensor_models_ortho.png)
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The next instructions show how to initialize each model individually.
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‎docs/getting_started/simulation.md

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# Simulation
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![simulation_attributes](../resources/img/simulation_attributes.png)
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![simulation_attributes](/resources/img/simulation_attributes.png)
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## Requirements
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