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Create pcd

Demo scene

Demo scene path: Assets\Awsim\Scenes\PcdGenerationSample.unity

Create pcd with custom map

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