Exporting hd map to apollo xml with local coordinates

Hello,

I'm using roadrunner to create an HD map and export to apollo format. Is there a way to export both georeferenced and from the local coordinate system points?

Thanks in advance!

Answer 1

[Harsh]

Hi @Maria Siopi,

From what I can gather, you are asking if RoadRunner can export an Apollo HD map with both georeferenced (longitude/latitude) and local coordinate system points included in the output.

The short answer is no. By default, when you create a scene in RoadRunner, the world origin is set to "0, 0", and if you export this scene to Apollo (.xml, .bin), the map will use the local coordinate system.

If you want to use georeferenced coordinates (longitude/latitude), you need to set the world origin accordingly.

For example, when I set the world origin to "44, -117" (as seen in the figure above), the exported .xml file contains all coordinates in real-world (geodetic) values (refer to the following image).

To summarize, RoadRunner does not directly support exporting both coordinate systems together in the same Apollo file, but you can convert between them as needed.

I hope this helps. Thanks!