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

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

Answer 1

[Simone]

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

[Xinyu]

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