Clarification on Coordinate System and Trajectory Alignment
Hi, and thank you for providing this very cool dataset!
I’m currently trying to visualize the vehicle’s driving trajectory on the provided map (the OpenDRIVE .xodr file) using Matplotlib. However, I’m running into confusion regarding the coordinate system and how the positional data in the JSON files is intended to align with the map.
From what I can see in the JSON files, the positions seem to be expressed either as coordinates relative to the starting/spawn point, or as geocoordinates. But when I attempt to plot either of these on top of the map, the trajectories do not line up with the road layout, suggesting that I might be misunderstanding the format or missing a required transformation.
Could you clarify how the positions in the sensor and rig trajectory JSON files are meant to be interpreted, and how they should be transformed to correctly align with the map?
Thank you very much for your time and for any help you can provide!