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.

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.*