Create pcd
Demo scene
Demo scene path: Assets\Awsim\Scenes\PcdGenerationSample.unity
Create pcd with custom map
- Prepare 3d model and lanelet(.osm) file.
- Create new scene and place the map.
- Copy the entire contents of the
PcdGenerationSample.unity
scene to a new scene. - Configure PcdGenerator. (GameObject path:
PcdGenerationSample\PcdGenerator
)- Set osm of custom map to
OsmDataContainer
in PcdGenerator. - Set the ROS coordinates of the custom map origin to
WorldOriginROS
in PcdGenerator.
- Set osm of custom map to
- Run and wait point cloud mapping.