how to let lane begin form [0,0] in Roadrunner?

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Xinyu Yang
Xinyu Yang 2024-10-22，13:41
评论： Xinyu Yang 2024-10-22，18:34
Hallo everyone,
I'm using "Generate High Definition Scene from Lane Detections and OpenStreetMap" to build road and lanes, but after follow these steps, I got road and lanes in Roadrunner that didn't begin from [0,0]. I tried to change the parameter but it still donest work.
Could anyone please give me some methods to solve this problem? Thank you.
Best regards,
Xinyu

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回答（1 个）

Simone
Simone 2024-10-22，15:34
Hi Xinyu,
you need to adjust the World Origin. This can be done either interactivley in RoadRunner or programmatically,
Interactive:
World setting tool: Change origin
Programmatically using changeWorldSettings command:
% rrApp = roadrunner(rrProjectPath,InstallationFolder=rrAppPath);
% importScene(rrApp,fullfile(pwd,"RoadRunnerHDMapFromLanes.rrhd"),"RoadRunner HD Map");
changeWorldSettings(rrApp, WorldOrigin=[45.5286873 -122.6214463],TransformScene=true);
I am curious: why is it important that your road starts at [0,0]?
Regards,
Simone
  1 个评论
Xinyu Yang
Xinyu Yang 2024-10-22，18:34
Hello Simone,
thanks for your answer!
I followed these 2 example to rebuild driving scenario.
Ego Localization Using Lane Detections and HD Map for Scenario Generation:
https://ww2.mathworks.cn/help/driving/ug/ego-localization-using-lane-detections-and-hd-map-for-scenario-generation.html
Generate High Definition Scene from Lane Detections and OpenStreetMap:
https://ww2.mathworks.cn/help/driving/ug/build-high-definition-road-scene-from-lane-detections-and-openstreetmap.html
This thin blue line is the vehicle track, its reference point is the first point, so it begins from [0,0]. But the road, I got the reference point from this code
"[roadData,geoReference] = roadprops("OpenStreetMap",filename);",
I changed the reference point of the road, but it cant run anymore in this step:
"egoRoadsWithUpdatedLanes = updateLaneSpec(laneDetections,egoRoadData,refLaneSpec,egoTrajectory,firstEgoWaypointLaneIdx,ReplicateUpdatedLaneWidth=true);",
Thats why I want to let road begin from [0,0]. I want to align the road and the vehicle trajectory.
Best regards,
Xinyu

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