how to let road begin from world origin?

Hello everyone,

I'm generating high definition scene from lane detections and OpenStreetMap by following this example:

https://ww2.mathworks.cn/help/driving/ug/build-high-definition-road-scene-from-lane-detections-and-openstreetmap.html.

I used "changeWorldSettings" to define the world origin, and changed the road information to let road begin from world origin, after that I plot it and got this picture.

But wenn I import it in Roadrunner, it didnt begin from the world origin, I have no idea why. The attachment is mine rrHDmap，this is the code to import it to roadrunner.

cropWindow = [-30 -30 60 60];
helperPlotRoads(rrHDMap,cropWindow)
write(rrHDMap,"Road0926.rrhd");
rrProjectPath = "D:\RR";
rrAppPath = "D:\RoadRunner R2024a\bin\win64";
rrApp = roadrunner(rrProjectPath,InstallationFolder=rrAppPath);
changeWorldSettings(rrApp,SceneExtents=[1000 1000]);
importScene(rrApp,fullfile(pwd,"Road0926.rrhd"),"RoadRunner HD Map");
newFilename = "lane0926.rrscene";
saveScene(rrApp,newFilename);

Can anyone give me some advices?

Best regards,

Xinyu

Answer 1

[Sreeram]

Hi @Xinyu Yang,

While importing and loading a RoadRunner HD Map into RoadRunner using “importScene”, you can specify an import option as described in the following documentation:

https://www.mathworks.com/help/driving/ref/roadrunner.importscene.html?#mw_a6ae5715-2baa-4cb3-87db-adcac74e1dce

The import option object “roadrunnerHDMapLoadOptions” with property “Offset” can specify the offset of the imported HD map, relative to the center of the RoadRunner scene. I recommend passing the appropriate “roadrunnerHDMapLoadOptions” object to the “importScene” to address the issue.

[Xinyu Yang]

Hello Sreeram,

maybe I didnt describe the question so good, I want to know the offset not to set the offset.

Best regards,

Xinyu