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

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;

Answer 1

[Qu Cao]

The following documenation page explains the vehicle coordinate system and the world coordinate system:

https://www.mathworks.com/help/driving/ug/coordinate-systems.html