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readme.txt
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Environment Simulator Minimalistic (esmini) is a basic OpenSCENARIO player.
Home: https://github.com/esmini/esmini
Run esmini demo:
1. Navigate to run/esmini
2. Run any of the provided batch-script examples (double click on or run from command line)
Key shortcuts
H (shift + h): Print this help text to console
Space: Toggle pause/play simulation
Return: Step simulation (one timestep) then pause
TAB: Move camera to next vehicle
Shift + TAB: Move camera to previoius vehicle
Delete: Same as above (Shift + TAB)
o: Toggle show / hide OpenDRIVE road feature lines
O: Toggle show / hide odr signal bounding boxes
u: Toggle show / hide OSI road lines
y: Toggle show / hide OSI road points
p: Toggle show / hide environment 3D model
r: Toggle show / hide sensor view frustums
R: Toggle route waypoint visualization
i: Toggle on-screen info text modes
j: Toggle show trails after vehicles(4 modes: none / dots / lines / both)
n: Toggle show active trajectories
, (comma): Switch entity view : Model only / Bounding box / Model + Bounding box / None
K: Print current camera position and orientation to console
ESC: quit
Arrow keys is used to drive externally controlled Ego vehicle:
Up: Accelerate
Down: Brake
Left: Steer left
Right: Steer right
1 - 9: Camera models acording to :
1: Custom camera model
2: Flight
3: Drive
4: Terrain
5: Orbit
6: FirstPerson
7: Spherical
8: NodeTracker
9: Trackball
When custom camera model(1) is activated
k: Switch between the following sub models:
- Orbit (camera facing vehicle, rotating around it)
- Fixed (fix rotation, always straight behind vehicle)
- Flex (imagine the camera attached to vehicle via an elastic string)
- Flex - orbit (Like flex but allows for roatation around vehicle)
- Top (top view, fixed rotation, always straight above vehicle)
- Driver ("driver" view, fixed at center of vehicle)
Viewer options
f: Toggle full screen mode
t: Toggle textures
s: Rendering statistics
l: Toggle light
w: Toggle geometry mode(shading, wireframe, dots)
c: Save screenshot in JPEG format - in the folder where the application was started from
C: Toggle continuous screen capture (e.g for video creation)
h: Help
Mouse control
Left: Rotate
Right: Zoom
Middle: Pan
This is typical, exact behaviour depends on active camera model.