/dobbie_junk

Primary LanguageC#

Resources

  1. Blender
  2. phobos, An add-on for Blender allowing to create URDF, SDF and SMURF robot models in a WYSIWYG environment.
  3. AWSIM, Unity based AV Simulator but we extend it to general purpose Mobile Robot with dobbie.
  4. CityGen3D, A Unity asset to generate real worl location envoirments, the data is pulled from OpenStreetMap.
  5. URDF-Importer, A unity package to import robot defined with a URDF into a functioing UNity GameObject.

To be aware ofs

  1. CityGen3D creates terrain + other objects (buildings, roads, sidewalks, etc.), but RobotecGPULidar, wonts see through the terrain. As a workaround, use terrain -> mesh converter hosted in this gist.

  2. CityGen3D generated meshes are not enabled for read/write. Change all isReadable:0 tags to 1.

Export Road network from MapRoads of CityGen3D

Use Unity's FBX expoerter to export MapRoads to .fbx file (in binary format). Unfourtunately it is a tedious task to work with .fbx files in Linux, blender is a good choice as Meshlab and CloudCompare cannot handle .fbx very well.

Transfer this .fbx -> .obj using preferably blender or an online tool.

Finally use CloudCompare to sample colored pointcloud on the .obj mesh.

There you have semantically labeled road network as depicted in the pic.

plot