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bark-simulator / bark

Open-Source Framework for Development, Simulation and Benchmarking of Behavior Planning Algorithms for Autonomous Driving
https://bark-simulator.github.io/
MIT License
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Add geoReference into xodr files and center the map to origin #360

Closed tin1254 closed 4 years ago

tin1254 commented 4 years ago

Map issue encountered during integrating RSS:

  1. One of the dependences of RSS requires geoReference in the header to project points
  2. In city highway straight, the road has the coordinates above 5000, which is invalid for the dependence of RSS. Centering the road to the origin solves the issue.
patrickhart commented 4 years ago

Can this not internally be done for the calculations of the RSS? It is important for the map to remain at its position for applications such as dataset replays.

klemense1 commented 4 years ago

I don't think this will break dataset replay. @tin1254 can you please check if the german and chinese merging maps work?

patrickhart commented 4 years ago

If it is only saved as semantic information then no. However, if the map is re-centered the coordinates will not match.

klemense1 commented 4 years ago

german and chinese merging maps have this already. the maps we made manually (city highway straight) are missing this information...

patrickhart commented 4 years ago

alright, then no problem!

tin1254 commented 4 years ago

I don't think this will break dataset replay. @tin1254 can you please check if the german and chinese merging maps work?

chinese works but german doesn't without centering, it's because of the coordinate values of the map are too large