Merge pull request #3 from uos/develop

v2.2.6 Updates

Author: amock

CMakeLists.txt

@@ -1,7 +1,7 @@
 cmake_minimum_required(VERSION 3.16)
 project(rmagine 
     LANGUAGES CXX C
-    VERSION 2.2.5)# TODO update this version when merging into main-branch
+    VERSION 2.2.6)# TODO update this version when merging into main-branch
 
 option(BUILD_TOOLS "Build tools" ON)
 option(BUILD_TESTS "Build tests" ON)
@@ -114,6 +114,9 @@ endif(OPENMP_FOUND)
 ########################################
 ## Optional Deps
 
+# for ouster config loading
+find_package(jsoncpp)
+
 ######################################
 ## CUDA: For Optix                  ##
 ######################################
@@ -178,6 +181,11 @@ set(RMAGINE_STATIC_LIBRARIES)
 ### RMAGINE CORE LIB
 add_subdirectory(src/rmagine_core)
 
+### RMAGINE OUSTER LIB
+if(jsoncpp_FOUND)
+    add_subdirectory(src/rmagine_ouster)
+endif(jsoncpp_FOUND)
+
 ### RMAGINE EMBREE LIB
 if(embree_FOUND)
   add_subdirectory(src/rmagine_embree)
@@ -193,7 +201,7 @@ endif(CUDA_FOUND)
 
 message(STATUS "${BoldCyan}Components build:${ColourReset}")
 foreach(LIBRARY ${RMAGINE_LIBRARIES})
-  message(STATUS "- ${BoldGreen}${LIBRARY}${ColourReset}")
+    message(STATUS "- ${BoldGreen}${LIBRARY}${ColourReset}")
 endforeach()
 
 #### TESTS

README.md

@@ -15,6 +15,8 @@ Rmagine
   <a href="https://github.com/uos/rmagine/issues">Issues</a>
   <span>&nbsp;&nbsp;•&nbsp;&nbsp;</span>
   <a href="https://github.com/amock/rmagine_examples">Examples</a>
+  <span>&nbsp;&nbsp;•&nbsp;&nbsp;</span>
+  <a href="https://github.com/amock/rmagine_viewer">Viewer</a>
   <br />
 </div>
 
@@ -116,7 +118,7 @@ More detailed examples explaining each step and how to customize it to your need
 
 Please reference the following papers when using the Rmagine library in your scientific work.
 
-```latex
+```bib
 @inproceedings{mock2023rmagine,
   title={{Rmagine: 3D Range Sensor Simulation in Polygonal Maps via Ray Tracing for Embedded Hardware on Mobile Robots}}, 
   author={Mock, Alexander and Wiemann, Thomas and Hertzberg, Joachim},
@@ -127,6 +129,7 @@ Please reference the following papers when using the Rmagine library in your sci
 ```
 
 ## Rmagine-accelerated Applications
+- [rmagine_viewer](https://github.com/amock/rmagine_viewer)
 - [rmagine_gazebo_plugins](https://github.com/uos/rmagine_gazebo_plugins)
 - [RMCL](https://github.com/uos/rmcl)
 - [radarays_ros](https://github.com/uos/radarays_ros)

apps/rmagine_benchmark/Main.cpp

@@ -116,7 +116,7 @@ int main(int argc, char** argv)
         // Define what to simulate
         double velos_per_second_mean = 0.0;
 
-        std::cout << "- range of last ray: " << cpu_sim->simulateRanges(Tbm)[Tbm.size() * model->phi.size * model->theta.size - 1] << std::endl;
+        // std::cout << "- range of last ray: " << cpu_sim->simulateRanges(Tbm)[Tbm.size() * model->phi.size * model->theta.size - 1] << std::endl;
         std::cout << "-- Starting Benchmark --" << std::endl;
 
         // predefine result buffer