unity制作高精地图

1. 打开unity，项目->新建->3D->创建
2. 将autoware map tools导入unity
3. 点击Add package from disk
4. 接着选择MapToolbox-master文件夹中的package.json，工具包就会自动导入
5. 在Window----Package Manager中找到Jobs----Version History----Updata更新，就能添加Autoware----AutowareADASMap工具包
6. 把地图文件放到刚刚创建的/Assets文件夹；注意路径中不能有中文
7. 然后将PCD地图文件拖到SampleScene中打开

   

8. 点击y轴，然后点旁边的锁键来锁定视角
9. 右键添加Autoware工具箱
10. 命名高精度地图
11. 添加白色线
12. 绘制白线
13. 每段线编号，进行平滑处理，先打断subdicision，方式为normal way，依次创建左右两条
14. 创建行驶线，注意行驶线需要全部打碎
15. 若要绘画其它曲线，可以用c代码绘制后，按着曲线添加，先创建game object
16. 然后右侧添加组件代码如下

    using UnityEngine;
    using System.Collections.Generic;
    
    public class ADASGoSlicesLane : MonoBehaviour
    {
        public float radius = 10.0f;
        public int segments = 50;
        public Vector3 center = new Vector3(21, 0, 8); // 圆心坐标
        public List<LanePoint> lanePoints; // 存储路径点
    
        void OnDrawGizmos()
        {
            lanePoints = CreateLanePoints(center, radius, segments);
            DrawCircleGizmos(lanePoints);
        }
    
        private List<LanePoint> CreateLanePoints(Vector3 center, float radius, int segments)
        {
            List<LanePoint> points = new List<LanePoint>();
    
            for (int i = 0; i < segments; i++)
            {
                float angle = (float)i / segments * Mathf.PI * 2;
                float x = Mathf.Cos(angle) * radius + center.x;
                float z = Mathf.Sin(angle) * radius + center.z;
    
                // 计算每个点的前向方向
                Vector3 point = new Vector3(x, center.y, z);
                Vector3 pointDir = new Vector3(-Mathf.Sin(angle), 0, Mathf.Cos(angle));
    
                points.Add(new LanePoint(point, pointDir));
            }
    
            return points;
        }
    
        private void DrawCircleGizmos(List<LanePoint> lanePoints)
        {
            Gizmos.color = Color.red;
    
            // 绘制路径点之间的线条
            for (int i = 0; i < lanePoints.Count; i++)
            {
                Vector3 startPoint = lanePoints[i].position;
                Vector3 endPoint = lanePoints[(i + 1) % lanePoints.Count].position;
                Gizmos.DrawLine(startPoint, endPoint);
            }
    
            // 绘制每个路径点的方向矢量
            Gizmos.color = Color.green;
            foreach (var lanePoint in lanePoints)
            {
                Gizmos.DrawLine(lanePoint.position, lanePoint.position + lanePoint.direction);
            }
        }
    }
    
    public struct LanePoint
    {
        public Vector3 position;
        public Vector3 direction;
    
        public LanePoint(Vector3 pos, Vector3 dir)
        {
            position = pos;
            direction = dir;
        }
    }
    

17. 添加停止线
18. 保存，选择文件夹，删除高精度地图，导入保存数据，在保存，覆盖之前的线段序列号
19. 参考来源

autoware~unity绘制高精度地图教程（实测）_autoware unity高清地图-CSDN博客