{"id":9801,"date":"2024-11-23T13:56:12","date_gmt":"2024-11-23T05:56:12","guid":{"rendered":"https:\/\/yanjingang.com\/blog\/?p=9801"},"modified":"2025-09-17T21:31:03","modified_gmt":"2025-09-17T13:31:03","slug":"%e4%bd%bf%e7%94%a8unitymaptoolbox%e7%bb%98%e5%88%b6vector-map%e5%9c%b0%e5%9b%be","status":"publish","type":"post","link":"https:\/\/yanjingang.com\/blog\/?p=9801","title":{"rendered":"Unity\u2014MapToolBox\u7ed8\u5236VectorMap\u5730\u56fe"},"content":{"rendered":"

\u4e0a\u4e00\u6b21\uff0c\u6211\u4eec\u4f7f\u7528ndt-mapping\u6784\u5efa\u4e86\u4e00\u4e2aPCD\u70b9\u4e91\u5730\u56fe\uff0c\u5728\u5f00\u59cbAutoware\u7684\u5bfc\u822a\u4e4b\u524d\uff0c\u5355\u9760\u70b9\u4e91\u5730\u56fe\u662f\u4e0d\u591f\u7684\uff0c\u6211\u4eec\u9700\u8981\u5148\u7ed8\u5236\u77e2\u91cf\u5730\u56fe\uff0c\u6765\u7ea6\u675f\u53ef\u884c\u9a76\u7684\u533a\u57df\u3001\u65b9\u5411\u7b49\uff0c\u7136\u540e\u518d\u7ee7\u7eed\u5bfc\u822a\u73af\u8282\u7684\u9a8c\u8bc1\u3002<\/p>\n

\u7531\u4e8e\u6211\u7528\u7684autoware\u7248\u672c\u662f1.x\uff0c\u9700\u8981\u4f7f\u7528vector map\uff0c\u672c\u6587\u5c31\u5e26\u5927\u5bb6\u4e00\u8d77\u4f7f\u7528Unity+MapToolBox\u6765\u7ed8\u5236\u5b83\u3002<\/p>\n

\"\"<\/a><\/p>\n

\"\"<\/a><\/p>\n

*\u6ce8\uff1a\u6ca1\u6709\u4f7f\u7528TIER IV<\/a>\u7684\u539f\u56e0\u4e3a\u5b83\u7ed8\u5236\u51fa\u6765\u7684\u662fLanelet2\u683c\u5f0f\uff0c\u4e0e1.x\u7684\u683c\u5f0f\u4e0d\u4e00\u81f4\uff0c\u540e\u7eed\u6709\u7a7a\u518d\u5c1d\u8bd5\u5b83\u7ed8\u5236\u540e\u518d\u8f6c\u6362\u683c\u5f0f\u3002<\/p>\n

\u4e00\u3001\u73af\u5883\u51c6\u5907<\/h1>\n

1. \u51c6\u5907Win10\u7535\u8111<\/h4>\n

\u9996\u5148\u4f60\u5fc5\u987b\u6709\u4e00\u4e2awin10\u7684\u7535\u8111\uff08\u4e0d\u8981\u8bd5\u56fe\u7528mac\u3001ubuntu\u4e86\uff0c\u56e0\u4e3a\u6211\u90fd\u5e2e\u4f60\u8bd5\u8fc7\u4e86\uff0c\u4e0d\u884c\u3002\u539f\u56e0\u5728\u4e8eMapToolsBoxd\u7684vector map unity\u63d2\u4ef6\u53ea\u517c\u5bb9\u4e86win10\uff0c\u5982\u679c\u5bfc\u5165\u5230\u5176\u4ed6\u5e73\u53f0\u751a\u81f3win11\u7684\u7cfb\u7edf\u91cc\uff0c\u5c31\u4f1a\u51fa\u73b0\u5404\u79cd\u5947\u602a\u7684\u63d2\u4ef6\u62a5\u9519\uff0c\u521b\u5efa\u5bf9\u8c61\u5217\u8868\u91cc\u770b\u4e0d\u5230Autoware\uff0c\u63d2\u4ef6\u4e0d\u80fd\u6b63\u5e38\u5de5\u4f5c\uff09\u3002<\/p>\n

2. \u5b89\u88c5Unity Hub\u3001Personal Licenses\u3001Unity Editor<\/h4>\n

\u5230unity.com\u5b98\u7f51\u4e0b\u8f7d\u6700\u65b0\u7248\u672c\u7684Unity Hub\uff0c\u5b89\u88c5\u540e\u5148\u767b\u5f55\uff0c\u7136\u540e\u5230\u4e2a\u4eba\u8bbe\u7f6e\u91cc\u7533\u8bf7Free Personal Licenses\uff08\u6ce8\u610f\uff0c\u529e\u516c\u7535\u8111\u6216\u529e\u516c\u73af\u5883\u65e0\u6cd5\u7533\u8bf7\uff0cUnity\u6709\u68c0\u6d4b\uff0c\u4f1a\u5bfc\u81f4\u70b9\u51fb\u7533\u8bf7\u65f6\u6ca1\u53cd\u5e94\u3002\u4e2a\u4eba\u7535\u8111\uff0c\u8fde\u975e\u516c\u53f8\u7f51\u7edc\uff0c\u5f00\u79d1\u5b66\u4e0a\u7f51\uff0c\u4e00\u952e\u5373\u53ef\u7533\u8bf7\u4e2a\u4eba\u514d\u8d39Licenses\uff0c\u5982\u679c\u901f\u5ea6\u6162\u522b\u7740\u6025\uff09\u3002<\/p>\n

\"\"<\/a><\/p>\n

\u901a\u8fc7unity hub\u5b89\u88c5unity editor\uff0c\u6211\u8fd9\u91cc\u5b89\u88c5\u6700\u65b0\u7248\u672c\u5931\u8d25\uff0c\u6240\u4ee5\u9009\u62e9\u4e86\u524d\u4e00\u4e2a\u65e7\u7248\u672c2021.3.44f1c1\u3002<\/p>\n

\"\"<\/a><\/p>\n

3. \u65b0\u5efa\u9879\u76ee\uff0c\u5bfc\u5165\u63d2\u4ef6<\/h4>\n
3.1 \u65b0\u5efa3D\u9879\u76ee<\/h6>\n

\"\"<\/a><\/p>\n

3.2 \u5b89\u88c5entities\u63d2\u4ef6<\/h6>\n

\u5728 unity \u83dc\u5355\u680f\u4e2d\u70b9\u51fb Windows\u2014Package Manager\uff0c\u70b9\u51fb PackageManager \u4e0b\u9762\u7684\u201c+\u201d\u2014Add Package from git URL\uff0c\u586b\u5165 com.unity.entities \u540e\u70b9\u51fb add \u7b49\u5f85\u52a0\u8f7d\u4e0b\u8f7d\u5b8c\u6210\u3002<\/p>\n

3.3 \u5b89\u88c5MapToolBox\u63d2\u4ef6<\/h6>\n

\u4e0b\u8f7d\u5e76\u89e3\u538bMapToolbox-0.1.1-preview.9.zip<\/a>\uff0c\u6240\u5728\u76ee\u5f55\u8def\u5f84\u4e0d\u80fd\u6709\u4e2d\u6587\u6216\u7a7a\u683c\u3002<\/p>\n

\u5728 unity \u83dc\u5355\u680f\u4e2d\u70b9\u51fb Windows\u2014Package Manager\uff0c\u70b9\u51fb Package Manager \u4e0b\u9762\u7684\u201c+\u201d\u2014Add Package from disk\uff0c\u9009\u62e9\u5df2\u7ecf\u89e3\u538b\u597d\u7684MapToolbox-0.1.1-preview.9\u6587\u4ef6\u5939\u4e0b\u7684package.json \u6587\u4ef6\uff0c\u5bfc\u5165\u65f6\u5982\u679c\u5f39\u51fa\u63a5\u53e3\u517c\u5bb9\u63d0\u793a\uff0c\u5219\u9009\u62e9\u4ec5\u81ea\u52a8\u4fee\u590d\u63d0\u793a\u7684\u90a3\u4e2a\u6587\u4ef6\u3002<\/p>\n

\u5bfc\u5165\u5b8c\u6bd5\u540e\uff0c\u68c0\u67e5\u786e\u4fdd\u6ca1\u6709\u4efb\u4f55\u7ea2\u8272\u62a5\u8b66\u3002\u6b64\u65f6\u5728\u9879\u76ee\u5de6\u4e0b\u89d2Packages\u4e0b\u8fb9\u53ef\u4ee5\u770b\u5230\u591a\u4e86Autoware Map ToolBox\u3002<\/p>\n

\"\"<\/a><\/p>\n

\u6b64\u65f6\u5728\u9879\u76ee\u5de6\u4e0a\u89d2\u90e8\u5206\u70b9\u51fb\u6dfb\u52a0+\u521b\u5efa\u5bf9\u8c61\u6309\u94ae\uff0c\u53ef\u4ee5\u770b\u5230\u5bf9\u8c61\u7c7b\u578b\u591a\u4e86Autoware-AutowareADASMap\uff0c\u8fd9\u6837\u6211\u4eec\u7684\u5236\u56fe\u73af\u5883\u5c31\u51c6\u5907\u597d\u4e86\u3002<\/p>\n

\"\"<\/a><\/p>\n

 <\/p>\n

\u4e8c\u3001\u6839\u636ePCD\u7ed8\u5236\u77e2\u91cf\u56fe<\/h1>\n

1. \u52a0\u8f7dPCD\u70b9\u4e91\u5730\u56fe<\/h4>\n

\u628a\u4e4b\u524d\u5efa\u56fe\u5f97\u5230\u7684 pcd \u70b9\u4e91\u5730\u56fe\u6587\u4ef6\u76f4\u63a5\u62d6\u62fd\u5230 unity \u5de6\u4e0b\u89d2 project \u4e2d\u7684 Assets\u6587\u4ef6\u5939\u5f53\u4e2d\uff0c\u7136\u540e\u518d\u628a pcd \u70b9\u4e91\u6587\u4ef6\u4ece Assets \u6587\u4ef6\u5939\u4e2d\u62d6\u62fd\u5230\u5de6\u4fa7\u4f4d\u7f6e\uff0c\u6211\u4eec\u5c31\u53ef\u4ee5\u5728\u4e2d\u95f4\u770b\u5230\u70b9\u4e91\u5730\u56fe\u3002\uff08\u5982\u679cpcd\u65e0\u6cd5\u62d6\u62fd\u5230\u5de6\u4e0a\u89d2\uff0c\u8bf4\u660e\u63d2\u4ef6\u6ca1\u6709\u5b89\u88c5\u6210\u529f\uff0c\u56de\u5230\u4e0a\u4e00\u6b65\u68c0\u67e5\u662f\u5426win10\u7cfb\u7edf\uff0c\u4ee5\u53ca\u63d2\u4ef6\u5b89\u88c5\u662f\u5426\u62a5\u9519\uff0c\u5b9e\u5728\u4e0d\u884c\u53ef\u4ee5\u5c1d\u8bd5\u56de\u9000unity editor\u5230\u6211\u4f7f\u7528\u7684\u8fd9\u4e2a\u7248\u672c\uff09<\/p>\n

\u957f\u6309\u9f20\u6807\u53f3\u952e\u53ef\u4ee5\u65cb\u8f6c\u89c6\u89d2\uff0c\u957f\u6309\u9f20\u6807\u6ed1\u8f6e\u53ef\u4ee5\u79fb\u52a8\u89c6\u89d2\uff0c\u9f20\u6807\u6ed1\u8f6e\u53ef\u4ee5\u653e\u5927\u7f29\u5c0f\u89c6\u89d2\u3002Q \u662f\u89c6\u89d2\u79fb\u52a8\uff0cW \u662f\u7269\u4f53\u79fb\u52a8\uff0cE \u662f\u65cb\u8f6c\u3002<\/p>\n

\"\"<\/a><\/p>\n

2. \u56fa\u5b9a\u70b9\u4e91\u89c6\u89d2<\/h4>\n

\u753b\u9ad8\u7cbe\u5730\u56fe\u65f6\u6700\u597d\u56fa\u5b9a\u70b9\u4e91\u89c6\u89d2\uff0c\u907f\u514d\u70b9\u4e91\u52a8\uff0c\u9ad8\u7cbe\u5730\u56fe\u5bf9\u4e0d\u4e0a\u4f4d\u7f6e\u3002\u53ef\u4ee5\u5728\u53f3\u4e0a\u65b9\u9009\u62e9\u201cY\u201d\u89c6\u89d2\uff0c\u9009\u62e9\u201cY\u201d\u89c6\u89d2\u6b63\u65b9\u5411\uff0c\u7136\u540e\u9501\u4f4f\u5373\u53ef\u3002<\/p>\n

\"\"<\/a><\/p>\n

3. \u5bfc\u5165 maptoolbox \u63d2\u4ef6<\/h4>\n

\u9f20\u6807\u53f3\u51fb\u521b\u5efaAutoware-AutowareADASMap\u3002\u9009\u4e2d\u521b\u5efa\u7684\u5bf9\u8c61\u540e\uff0c\u53f3\u4fa7\u4f1a\u51fa\u73b0\u4e00\u4e9b\u9009\u9879\uff1a<\/p>\n