Features

4 workspaces - by purpose

Four workspaces, one transformer chain, scriptable from Lua. Pick a workspace from the tabs in the editor, or jump straight to the spec of each below.

workspace simulation

Simulation

Build a scene, pick a sensor profile, watch a stream that matches the real datasheet.

Walls, targets, moving obstacles with per-surface reflectivity.
Per-profile beam divergence, multiecho, intensity, crosstalk, multipath.
Noise driven directly from datasheet accuracy and repeatability.
Streams over the local SCIP TCP endpoint so any SCIP client connects unchanged.

Simulation workspace, schematic view.

workspace replay

Replay

Open a UBH capture, scrub, export. No hardware required.

Frame-accurate scrubbing, loop ranges, jump-by-event.
Apply the live transformer chain to recorded data.
Export CSV, point cloud, or another UBH after filtering.
Device profile read from the capture itself; no manual config.

Replay workspace, schematic view.

workspace gateway

Gateway

Connect to a real sensor over SCIP. Stream, configure, change the IP, drive the IO.

SCIP 2.0 + 2.2 with auto-detected dialect.
Set the sensor IP from inside the app, with a confirm modal and a power-cycle reminder.
Live IO state hub: GF / GG / MF / MG mapped to scene-aware detection bits.
Connection health rule keeps streaming honest under packet loss.

Gateway workspace, schematic view.

workspace proxy

Proxy

Sit byte-for-byte between client and sensor. Inspect, log, tamper, replay later.

Transparent byte-accurate bridge between any SCIP client and any Hokuyo sensor.
Per-direction frame log, with replay-style scrubbing.
Optional packet tampering for fault-injection tests.
Same scene model as the other workspaces; switch with one click.

Proxy workspace, schematic view.

Transformer chain

Every scan, from any source, flows through a chain of small, ordered transformers. Filters compose linearly; what you see in the canvas is what downstream consumers see over SCIP.

Built-in filters: range clamp, median smoothing, glitch reject, intensity gate, ROI mask, and more.
Each built-in filter ships a matching Lua twin, with an equivalence test in CI.
Drag to reorder. Toggle per stage. Inspect the per-stage scan diff in the inspector pane.
Saved with the scene so a Replay session is byte-identical to the original capture.

Lua scripting

Author your own transformer in Lua against the same scan API the C++ filters use. Quick snippets, intellisense, and a confirm prompt before the editor rewrites a stage in place.

function transform(scan)
  for i = 1, #scan.points do
    if scan.points[i].range_mm > 4000 then
      scan.points[i].drop = true
    end
  end
  return scan
end