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Virtual Vision Simulator


Author: Wiktor Starzyk

Supervisor: Dr. Faisal Qureshi


Our Virtual Vision Simulator is a distributed, customizable simulator capable of simulating pedestrian traffic in a variety of 3D environments. Virtual cameras deployed in this synthetic environment generate synthetic imagery---boasting realistic lighting effects, shadows, etc.---using the state-of-the-art computer graphics techniques. Our virtual vision simulator is realized as a collection of modules that communicate with each other over the network. Consequently, we can deploy our simulator over a network of computers, allowing us to simulate much larger networks and much more complex scenes then is otherwise possible.

Please send us any comments or feedback about how to make our simulator better. Your input is greatly appreciated.

Directory Structure

The directory structure of this package is as follows:

src/            The source code along with the 3 applications that can be 
dependencies/   The dependencies needed to run the simulator on windows 
config/         Sample configuration files
media/          3D models that make up the scene as well as the pedestrians



Install all of the executables provided in the dependencies/windows folder.


  • Make sure they all use the same version of python. (The version that comes with Panda3D is probably the best choice)

  • You will probably have to copy cv.lib and cv.pyd from the OPENCV_DIR/Python2.6/Lib/site-packages folder to the folder where your version of python is located.

    • OPENCV_DIR is your opencv directory. By default this is C:\OpenCV2.1

    • PANDA3D_DIR is your panda3D directory. By default this is C:\Panda3D-1.7.2

  • Make sure OPENCV_DIR\bin is added to your Path


The system is developed on Ubuntu 10.10 using packages from the Ubuntu repository. The following packages have to be installed:

  • python2.6
  • python-numpy 1.3.0
  • python-matplotlib 0.99.3
  • python-opencv 2.1.0
  • panda3d 1.7.2 (Not in ubuntu repository)
  • python-wxgtk2.8 2.8.11



  1. Go into the src folder.
  2. Execute:

python [options]


-d directory    Set the directory where the config files are located
-p port         Set the port the server should run on (default is 9099)
-a              Set the mode of the simulation controller to automatic
-s              A Sync session is used to control the time
-h              Print this help message and exit
--debug         Print debug messages to the console
  • Use the right arrow key to switch between different cameras
  • Use the escape key to exit

Sync Client

Execute: python [options] ip_address:port ip_address:port ...

Where ip_address:port is replaced with the ip address and port of all the simulators


--debug         Show debug messages

Sample Client

Execute: python [options]


- p port        Set the port of the virtual world
- a ip_address  Set the ip address of the virtual world
- s             Save the images received from the server
- h             Print this help message and exit
--debug         Show debug messages

Contact Information

Wiktor Starzyk

Faisal Z. Qureshi

To report bugs or give feedback, please email Wiktor.

Copyright and License

Virtual Vision Simulator Copyright (c) 2011-2012 Wiktor Starzyk, Faisal Z. Qureshi

See license.txt for complete license.


This is the released panda3d based distributed virtual vision simulator.







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