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The Heidelberg LiDAR Operations Simulator (HELIOS++) is a highly flexible laser scanning simulation framework implemented in C++ and offers Python bindings via pyhelios. It is split up into a core component and multiple extension modules. Extensible Markup Language (XML) is used to define scanner, platform and scene models and to configure the behavior of modules.
The first release was implemented as a Java library and is still available here. It can be used for visualization and educational purposes, but is considered deprecated.
If you use HELIOS++ in your research, please cite
Winiwarter, L., Esmorís Pena, A., Weiser, H., Anders, K., Martínez Sanchez, J., Searle, M., Höfle, B. (2021): Virtual laser scanning with HELIOS++: A novel take on ray tracing-based simulation of topographic full-waveform 3D laser scanning. Remote Sensing of Environment, 112772, doi:10.1016/j.rse.2021.112772
BibTeX Entry:
article{heliosPlusPlus,
title = {Virtual laser scanning with HELIOS++: A novel take on ray tracing-based simulation of topographic full-waveform 3D laser scanning},
journal = {Remote Sensing of Environment},
year = {2021},
issn = {0034-4257},
doi = {https://doi.org/10.1016/j.rse.2021.112772},
url = {https://www.sciencedirect.com/science/article/pii/S0034425721004922},
author = {Lukas Winiwarter and Alberto Manuel {Esmorís Pena} and Hannah Weiser and Katharina Anders and Jorge {Martínez Sánchez} and Mark Searle and Bernhard Höfle}
} Error sources and randomness control
Research using HELIOS or HELIOS++