raycast2D
raycast2D is a fast, single-thread 2D raycasting implementation written in C with a small Python API.
It operates on NumPy occupancy grids / binary images (free cells are non-zero; occupied cells are 0) and computes ray intersections using Bresenham line algorithm.
The core package depends only on numpy.
Installation & Usage
$ pip install raycast2D
Basic cast function usage
import numpy as np
from PIL import Image
from raycast2D import cast
img = Image.open("<path/to/img.png>")
img_array = np.array(img)[:, :, 0] # Use single channel
pose = (250, 250, 0.5) # x, y, yaw in radians
rays = cast(img_array, pose, num_rays=360, ray_length=500)
print(rays[:5])
# Expected output (example):
# [[x0 y0]
# [x1 y1]
# [x2 y2]
# [x3 y3]
# [x4 y4]]
Using the Lidar2D class
from raycast2D import Lidar2D
# [...]
lidar = Lidar2D(num_rays=360, FOV=360, ray_length=500)
lidar.set_map(img_array)
rays = lidar.scan((250, 250, 0.5))
print(rays[:5])
# same output as before...
Plotting example
import numpy as np
import matplotlib.pyplot as plt
from PIL import Image
from raycast2D import cast
img = Image.open("media/lab_intel.png")
img_array = np.array(img)[:, :, 0] # Use single channel
pose = (350, 350, -1.0)
rays = cast(img_array, pose=pose, num_rays=200, FOV=90, ray_length=250)
plt.imshow(img_array, cmap="gray")
plt.scatter([pose[0]], [pose[1]], c="green", s=10)
plt.scatter(rays[:, 0], rays[:, 1], c="blue", s=1)
for ray in rays:
plt.plot([pose[0], ray[0]], [pose[1], ray[1]], c="red", linewidth=0.5, alpha=0.3)
plt.show()
Performance
The benchmark script in test/benchmark.py runs a small set of examples and prints throughput in rays/s.
Example results (tested on an i7-9700k):
| Map size | Ray length | Rays per call | Mean time (ms) | Throughput (rays/s) |
|---|---|---|---|---|
| 512×512 | 2000px | 5000 | 0.2490 | 20,083,924 |
| 4096×4096 | 2000px | 5000 | 0.2848 | 17,556,549 |
| 8192×8192 | 2000px | 5000 | 0.2571 | 19,446,324 |
To reproduce on your machine:
$ python3 test/benchmark.py
Interactive demo
The repository includes an interactive pygame demo that raycasts from the current mouse position.
$ pip install "raycast2D[extra]"
$ python3 test/demo.py
Testing and development
Install the test/development dependencies:
$ pip install "raycast2D[test]"
Run the test suite with:
pytest
License
GPL-3.0-only. See LICENSE.
1 maintainer
Metadata
1 maintainer
Release files for raycast2D 0.2.0
For a detailed explanation of source distributions (sdists) and built distributions (wheels), please see the package formats documentation.
Source distribution (sdist)
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|---|---|---|---|
| raycast2d-0.2.0.tar.gz | 9.4 kB | Details |
Built distributions (wheels)
Total release size: 389.3 kB
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