{"id":47890620,"url":"https://github.com/pacifio/sinclair","last_synced_at":"2026-04-04T03:01:49.154Z","repository":{"id":347928387,"uuid":"1191301210","full_name":"pacifio/sinclair","owner":"pacifio","description":"Synthetic LiDAR simulation platform for autonomous vehicle research.","archived":false,"fork":false,"pushed_at":"2026-03-25T05:28:27.000Z","size":2990,"stargazers_count":2,"open_issues_count":0,"forks_count":0,"subscribers_count":0,"default_branch":"main","last_synced_at":"2026-03-30T06:29:11.399Z","etag":null,"topics":["doppler","lidar"],"latest_commit_sha":null,"homepage":"","language":"Rust","has_issues":true,"has_wiki":null,"has_pages":null,"mirror_url":null,"source_name":null,"license":"mit","status":null,"scm":"git","pull_requests_enabled":true,"icon_url":"https://github.com/pacifio.png","metadata":{"files":{"readme":"README.md","changelog":null,"contributing":null,"funding":null,"license":"LICENSE","code_of_conduct":null,"threat_model":null,"audit":null,"citation":null,"codeowners":null,"security":null,"support":null,"governance":null,"roadmap":null,"authors":null,"dei":null,"publiccode":null,"codemeta":null,"zenodo":null,"notice":null,"maintainers":null,"copyright":null,"agents":null,"dco":null,"cla":null}},"created_at":"2026-03-25T05:28:03.000Z","updated_at":"2026-03-25T14:18:17.000Z","dependencies_parsed_at":null,"dependency_job_id":null,"html_url":"https://github.com/pacifio/sinclair","commit_stats":null,"previous_names":["pacifio/sinclair"],"tags_count":null,"template":false,"template_full_name":null,"purl":"pkg:github/pacifio/sinclair","repository_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/pacifio%2Fsinclair","tags_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/pacifio%2Fsinclair/tags","releases_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/pacifio%2Fsinclair/releases","manifests_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/pacifio%2Fsinclair/manifests","owner_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/owners/pacifio","download_url":"https://codeload.github.com/pacifio/sinclair/tar.gz/refs/heads/main","sbom_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/pacifio%2Fsinclair/sbom","scorecard":null,"host":{"name":"GitHub","url":"https://github.com","kind":"github","repositories_count":286080680,"owners_count":31385935,"icon_url":"https://github.com/github.png","version":null,"created_at":"2022-05-30T11:31:42.601Z","updated_at":"2026-04-04T01:22:39.193Z","status":"online","status_checked_at":"2026-04-04T02:00:07.569Z","response_time":60,"last_error":null,"robots_txt_status":"success","robots_txt_updated_at":"2025-07-24T06:49:26.215Z","robots_txt_url":"https://github.com/robots.txt","online":true,"can_crawl_api":true,"host_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub","repositories_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories","repository_names_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repository_names","owners_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/owners"}},"keywords":["doppler","lidar"],"created_at":"2026-04-04T03:01:48.280Z","updated_at":"2026-04-04T03:01:49.148Z","avatar_url":"https://github.com/pacifio.png","language":"Rust","funding_links":[],"categories":[],"sub_categories":[],"readme":"# Sinclair\n\n**Synthetic LiDAR simulation platform for autonomous vehicle research.**\n\nSinclair generates physically-accurate synthetic LiDAR point cloud data from real-world geospatial sources. Unlike platforms that require handcrafted 3D maps, Sinclair procedurally builds scenes from OpenStreetMap data — enabling LiDAR simulation for any location on Earth.\n\n\u003cp align=\"center\"\u003e\n  \u003cimg src=\"./media/heatmap.png\" width=\"49%\" /\u003e\n  \u003cimg src=\"./media/lidar.png\" width=\"49%\" /\u003e\n\u003c/p\u003e\n\n## Features\n\n### Sensors\n- **Velodyne VLP-16** — 16-channel, 360° spinning, 28,800 points/frame\n- **Velodyne HDL-64E** — 64-channel, 360° spinning, 288,000 points/frame\n- **Luminar Iris** — solid-state, 120°×26° FOV, 1.2M+ points/frame, RoI scanning\n\n### Simulation\n- **Real-time raycasting** against BVH-accelerated scene geometry\n- **Doppler velocity** — radial velocity computation for moving and static objects\n- **Real-time classification** — ASPRS LAS standard (building, road, vehicle, vegetation, etc.)\n- **NPC traffic** — vehicles spawned on roads from OSM density data, detectable by LiDAR\n- **Vehicle dynamics** — bicycle model with manual (WASD) and autoplay (road-following) modes\n- **Point cloud accumulation** — SLAM-like progressive scene mapping\n- **Atmospheric effects** — Beer-Lambert attenuation, precipitation ghost points\n\n### Scene Construction\n- **OpenStreetMap** buildings, roads, land use via Overpass API\n- **Building extrusion** with varied heights (OSM tags + area-based estimation)\n- **Road mesh generation** with sidewalks and curbs\n- **SRTM elevation data** for terrain\n- **Sentinel-2 surface classification** for material mapping\n- **Real-time weather** from Open-Meteo API\n\n### Visualization\n- **2.5D isometric viewport** with pan, zoom, rotate (Shift+drag), tilt\n- **Three color modes** (press `C`): Distance, Doppler Velocity, Classification\n- **Doppler overlay** (press `X`): surface-conforming velocity visualization\n- **Heatmap mode** (press `H`): accumulated scan density with Gaussian smoothing\n- **Landmark map** (press `L`): top-down OSM map with road names and POIs\n- **Compass ruler** with heading indicator\n- **Color legend** adapting to active visualization mode\n\n### Export\n- **KITTI** format (.bin + .label + poses.txt)\n- **PCD** (Point Cloud Data) format\n- **LAS** 1.4 with classification\n- **Session metadata** (JSON)\n\n## Quick Start\n\n```bash\n# Clone\ngit clone https://github.com/pacifio/sinclair.git\ncd sinclair\n\n# Run\ncargo run -p sinclair-gui\n\n# Or use the dev script (checks + tests + run)\n./run_dev.sh\n```\n\n## Controls\n\n| Key | Action |\n|-----|--------|\n| `W` / `S` | Accelerate / Brake |\n| `A` / `D` | Steer left / right |\n| Drag | Pan the camera |\n| Scroll / Pinch | Zoom in/out |\n| Shift + Drag | Rotate (horizontal) / Tilt (vertical) |\n| `C` | Cycle color mode: Distance → Velocity → Classification |\n| `X` | Toggle Doppler velocity overlay |\n| `H` | Toggle heatmap view |\n| `L` | Toggle landmark map view |\n\n## Architecture\n\n```\nsinclair/\n├── crates/\n│   ├── sinclair-core          # Shared types, math, coordinates\n│   ├── sinclair-geo           # OSM, SRTM, weather, Nominatim, tile cache\n│   ├── sinclair-scene         # Building extrusion, road mesh, materials\n│   ├── sinclair-raycaster     # BVH construction, CPU/GPU ray casting\n│   ├── sinclair-sensors       # LiDAR sensor models (VLP-16, HDL-64E, Iris)\n│   ├── sinclair-vehicle       # Bicycle model dynamics, pure pursuit controller\n│   ├── sinclair-traffic       # NPC vehicle spawning and density\n│   ├── sinclair-atmosphere    # Beer-Lambert attenuation, ghost points\n│   ├── sinclair-export        # KITTI, PCD, LAS, metadata writers\n│   └── sinclair-gui           # egui application, 2.5D renderer, panels\n```\n\n## No API Keys Required\n\nAll external APIs are free and keyless:\n\n| API | Purpose |\n|-----|---------|\n| Overpass (OpenStreetMap) | Buildings, roads, land use |\n| Nominatim | Location search / geocoding |\n| OpenTopography (SRTM) | Elevation tiles |\n| Open-Meteo | Real-time weather |\n| Element84 Earth Search | Sentinel-2 satellite imagery |\n\nData is cached locally at `~/.sinclair/cache/`.\n\n## Doppler Velocity\n\nSinclair simulates radial Doppler velocity for each LiDAR return:\n\n```\nv_radial = (v_target - v_sensor) · ray_direction\n```\n\n- **Static objects** (buildings, roads): velocity from ego motion only\n- **Moving objects** (NPC vehicles): relative velocity between sensor and target\n- Visualized as blue (approaching) → white (static) → red (receding)\n\n## Classification\n\nEach point is classified using the ASPRS LAS standard based on the surface material:\n\n| Class | Code | Color |\n|-------|------|-------|\n| Building | 6 | Gray |\n| Road | 11 | White |\n| Sidewalk | 12 | Light gray |\n| Vehicle | 13 | Blue |\n| Vegetation | 5 | Green |\n| Ground | 2 | Green |\n| Water | 9 | Blue |\n| Traffic Sign | 16 | Yellow |\n\n## Requirements\n\n- **Rust** 1.70+\n- **macOS** (Apple Silicon primary) or **Linux**\n- No GPU required (CPU raycasting), but Metal/Vulkan available for future GPU acceleration\n\n## License\n\nMIT — see [LICENSE](LICENSE)\n","project_url":"https://awesome.ecosyste.ms/api/v1/projects/github.com%2Fpacifio%2Fsinclair","html_url":"https://awesome.ecosyste.ms/projects/github.com%2Fpacifio%2Fsinclair","lists_url":"https://awesome.ecosyste.ms/api/v1/projects/github.com%2Fpacifio%2Fsinclair/lists"}