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mitsudome-r / autoware

Open-source software for self-driving vehicles
https://www.autoware.ai/
Apache License 2.0
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Converted lat/lon different from original lanelet. #3

Open mitsudome-r opened 5 years ago

mitsudome-r commented 5 years ago

lat/lon in converted vector map is different from original lanelet. It is probably due to the mix use of geodesy package utm converter and lanelet UTM projector.

liuyf5231 commented 5 years ago

lat/lon in converted vector map is different from original lanelet. It is probably due to the mix use of geodesy package utm converter and lanelet UTM projector.

yes, 1.lanelet map data

<node id="1002" visible="true" version="1" lat="34.49234802584" lon="109.0428595787" />
  <node id="1003" visible="true" version="1" lat="34.49234820025" lon="109.04287046419" />
  <node id="1004" visible="true" version="1" lat="34.49234837466" lon="109.04288134969" />
  <node id="1006" visible="true" version="1" lat="34.49233" lon="109.04286" />
  <node id="1007" visible="true" version="1" lat="34.49233017441" lon="109.04287088549" />
  <node id="1008" visible="true" version="1" lat="34.49233034882" lon="109.04288177098" />
  <node id="1011" visible="true" version="1" lat="34.49234837466" lon="109.04288134969" />
  <node id="1012" visible="true" version="1" lat="34.49234854907" lon="109.04289223518" />
  <node id="1013" visible="true" version="1" lat="34.49234872348" lon="109.04290312067" />
  <node id="1015" visible="true" version="1" lat="34.49233034882" lon="109.04288177098" />
  <node id="1016" visible="true" version="1" lat="34.49233052323" lon="109.04289265647" />
  <node id="1017" visible="true" version="1" lat="34.49233069764" lon="109.04290354196" />
  1. converted vector map
PID,B,L,H,Bx,Ly,ReF,MCODE1,MCODE2,MCODE3
7,34.293200,109.023400,0.000000,18486.200136,20301.105757,0,0,0,0
6,34.293200,109.023400,0.000000,18486.200136,20300.439091,0,0,0,0
5,34.293200,109.023400,0.000000,18486.200137,20299.772424,0,0,0,0
1,34.293200,109.023400,0.000000,18486.200136,20301.105757,0,0,0,0
2,34.293200,109.023400,0.000000,18486.200136,20302.105757,0,0,0,0
3,34.293200,109.023400,0.000000,18486.200136,20303.105757,0,0,0,0
4,34.293200,109.023400,0.000000,18486.200137,20299.105757,0,0,0,0
8,34.293200,109.023400,0.000000,18487.200137,20301.105758,0,0,0,0
9,34.293200,109.023400,0.000000,18487.200136,20302.105757,0,0,0,0
mitsudome-r commented 5 years ago

This was actually not a problem. Lat/lon in vector map are in dd.mmss format.

liuyf5231 commented 5 years ago

format

This was actually not a problem. Lat/lon in vector map are in dd.mmss format.

hi mitsudome-r,

sorry again, what's the meaing in vector map Bx,Ly? eg. 18486.200136,20301.105757

In my lanelet map,my origin point is lat="34.49233" lon="109.04286" />, other points in the lanelets near the origin point only 2 meter.

mitsudome-r commented 5 years ago

@liuyf5231 Please see this comment. https://github.com/mitsudome-r/Autoware/issues/2#issuecomment-490091497