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About the SimvViz for AI & Autonomous Vehicles

This package includes a toolchain for the generating synthetic data for autonomous driving perception systems in Unity

Installing SimViz Package :

To install the SimViz package, follow the instructions in the Package Manager.

In addition, you need to install the following resources:

  • Render Pipelines Core : To install, open Window > Render Pipelines Core

Using SimViz

Scene creation from procedural placement

Below illustrates a basic use case of preparing a scene to be used for creating scenarios using procedural placement.

Prerequisites:

  • A set of assets to be used for placement
  • A road map in OpenDrive (.xodr) format

Importing Assets for placement

Ensure that assets adhere to the requirements (AssetImportRequirements.pdf in Documentation~ directory) for importing with SimViz. Asset categorization is configured via a .txn file, which is a json file that maps a category to a folder of assets. To set up your configuration file:

  1. In your assets folder, structure your assets such that each asset type is in a specific folder, for instance, trees should go in a "Trees" folder. While not required, this will make it easier to create your configuration file.
  2. Create a .txn file in your assets folder using a json or plain text editor. See an example of the txn file format (SimpleAssets.txn in Documentation~ directory). It is a fairly simple mapping of an asset category to a list of paths which contain prefabs of that asset category. Your txn file will be imported and a number of PlacementCategory assets will be created under the .txn file in your project window.

Importing road map

To import your OpenDrive road map, simply place the .xodr in your assets folder. The map will then be imported into the project and ready for use.

Visualizing the road map in Unity

  1. Select the .xodr file in your project window
  2. Select Tri->Lanes -> Lines from the menu This will create a number of game objects in your active scene that will show you where the lanes of your OpenDrive network are. These lanes are the reference for the placement algorithms.

Creating placement parameters

  1. Select Assets->Create->Content->PolygonSoupPlacementParameters. This will create a new asset for defining placement parameters.
  2. Select the newly-created placement parameters asset in your project window.
  3. In the placement parameters, select .xodr file as the Road Network Description, select and the placement category object (created by Importing Assets above) and parameters for each category. A good starting point is to have spacing and offset at least at 2 for all objects you are placing.

Placement example window

  1. Select the "Run Pipeline" button This will populate your active scene with the imported objects along your road network.

Technical details

Requirements

This version of SimViz; is compatible with the following versions of the Unity Editor:

  • 2019.3 and later (recommended)

Known limitations

SimViz version 0.1 Alpha includes the following known limitations:

  • XODR maps larger than 50MB are extremely slow and difficult to use in the editor

Package contents

Content Contains data samples, tests, and tools for procedural scene creation
Clipper OpenSource library for polygon clipping
MapElements Contains elements used for creating roads i.e. lanes and networks
Poly2Tri Contains more utilities for Triangulation Algorithm's and other utilities
Sampling Implementation of road network lane/line sampling
Ground Truth Captures RGB channels and segmentation data from a camera
Labeling Script object that labels an asset for target taxonomy
Labeling Configuration Captures all the labeling and adds the data to the corresponding pixels
Scenario Manager Contains different sample scenarios of driving conditions for a car to operate in
QuickGraph graphing calculator for 2D, 3D spatial coordinate systems
Procedural Placement Allows you to procedural create cities based on OpenDRIVE files
Polygon Soup Helps create a city using a road mesh network and assets using the data pipeline

Document revision history

2019-12-3 Updated SimViz for public release
2019-12-3 Updated SimViz documentation for Alpha release v2
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2019-10-30 Updated SimViz documentation for Alpha release
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2019-09-13 Document edited from template for SimViz
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2019-06-10 Unedited. Published to package.