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OSM to Unity 3D Model Conversion Workflow for AWSIM and Autoware

This document outlines the steps involved in converting an OpenStreetMap (OSM) file into a Unity 3D model compatible with AWSIM and Autoware. Demonstrations have been provided below for each part. This playlist also contains all the demonstrations.

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Steps:

  1. Download OSM File: Demonstration

    • Obtain the desired OSM file from OpenStreetMap.

  2. Convert OSM to OBJ: Demonstration

    • Utilize OSM2World to convert the OSM file into an OBJ format.
    • Export the OBJ folder containing part_obj_textures, materials.mtl, and part0000.obj.

  3. Import OBJ mesh file into CloudCompare and Generate PCD: Demonstration

    • Use CloudCompare to import the OBJ mesh file along with its associated files.
    • Ensure all files are stored in the same directory.
    • In Cloud Compare, select the mesh in the DB Tree, then Edit > Mesh > Sample Points and click OK.
    • Save the sampled file as a .pcd file.

  4. Adjust View Angle & Convert Format: Demonstration

    • If there are view angle issues, apply the following commands for a top-down view:

      pcl_transform_point_cloud original_point_cloud_input.pcd preliminary_rotation_result.pcd -axisangle 1,0,0,-1.5708
pcl_transform_point_cloud preliminary_rotation_result.pcd transformed_top_down_view.pcd -axisangle 1,0,0,3.1416

    • Convert the .pcd file from ASCII to binary using:

      pcl_convert_pcd_ascii_binary transformed_top_down_view.pcd final_output.pcd 1

  5. Create Lanelets: Demonstration

    • Import the .pcd file into Vector Map Builder.
    • Specify the MGRS of the map.
    • Create lanelets and other required elements.

  6. Import Files to Autoware: Demonstration


*Note: README.md is a work in progress. More detailed documentation will be added soon.*