MATLAB Answers

How to Transform of coordinate of actors from vehicle coordinate to world coordinate or refference coordinate system (ADAS toolbox) ...?

17 views (last 30 days)
sidharth sidharth
sidharth sidharth on 28 Nov 2019
Answered: Qu Cao on 16 Jan 2020
How to Transform of coordinate of actors from vehicle coordinate to world coordinate or refference coordinate system (ADAS toolbox) ...?
egoWaypoints = ; % ego vehicle waypoints wrt world coordinate.
egoAngle = atan(diff(egoWaypoints(:,1))./diff(egoWaypoints(:,2)));
egoAngle(end+1) = egoAngle(end);
tempX = ; % X coordinate wrt to Vehicle coordinate system from sensor fusion
tempY = ; % Y coordinate wrt to Vehicle coordinate system from sensor fusion
relX = tempX.*sin(abs(egoAngle(1:length(tempX))))-tempY.*cos(abs(egoAngle(1:length(tempX))));
relY = -tempX.*cos(abs(egoAngle(1:length(tempX))))-tempY.*sin(abs(egoAngle(1:length(tempX))));
absX = egoWaypoints(1:length(tempX),1)+relX;
absY = egoWaypoints(1:length(tempX),2)+relY;

  0 Comments

Sign in to comment.

More Answers (0)

Community Treasure Hunt

Find the treasures in MATLAB Central and discover how the community can help you!

Start Hunting!

Translated by