自动驾驶相关工具整理

system工具汇总

lcm

libbot

mit实验室内部工具， 核心功能如下：

• bot2-core C library with some simple but useful routines, and a set of core message types (LCM types).
• bot2-vis C library of classes and functions for visualizing data with OpenGL and GTK2.
• bot2-lcmgl Transmitting and rendering OpenGL commands over LCM.
• bot2-procman Process management tools for controlling many processes on one or many workstations.
• bot2-lcm-utils LCM utility programs (tunnel LCM over TCP, chop or splice log files, etc.)

drake

mit内部工具。
Drake (“dragon” in Middle English) is a C++ toolbox started by the Robot Locomotion Group at the MIT Computer Science and Artificial Intelligence Lab (CSAIL).

SLAM工具汇总

GTSAM

GTSAM is a library of C++ classes that implement smoothing and mapping (SAM) in robotics and vision, using factor graphs and Bayes networks as the underlying computing paradigm rather than sparse matrices.

MRPT

Mobile Robot Programming Toolkit provides developers with portable and well-tested applications and libraries covering data structures and algorithms employed in common robotics research areas.

simulator工具汇总

参考：
https://www.zhihu.com/question/24366951/answer/256186562?utm_source=com.alibaba.android.rimet&utm_medium=social

carla

CARLA is an open-source simulator for autonomous driving research.

采用GAZEBO模拟的例子

通过游戏Euro Truck Simulator 2模拟的例子

使用TORCS的例子

Gym-TORCS is the reinforcement learning (RL) environment in TORCS domain with OpenAI-gym-like interface. TORCS is the open-rource realistic car racing simulator recently used as RL benchmark task in several AI studies.

udacity使用游戏引擎做的一个模拟场景

商业模拟器prescan

商业机器人模拟器v-rep，有社区版

AirSim

微软做的仿真工具，原先用于无人机，现在添加了自动驾驶仿真，目前有图像，深度图等数据

others

libLAS

lidar数据读取工具。
libLAS is a C/C++ library for reading and writing the very common LAS LiDAR format.