Projector forward convert error

[jianhuaz]

When debugging AutoWare Universe, I found that the calculation result was wrong. May I ask which part was wrong?

map_projector_info.yaml

projector_type: TransverseMercator
vertical_datum: WGS84
map_origin:
latitude: 27.855293457897343
longitude: 113.68145973280252
altitude: 62.200000

C++ Code

LocalPoint project_forward(const GeoPoint & geo_point, const MapProjectorInfo & projector_info)
{
std::unique_ptrlanelet::Projector projector = get_lanelet2_projector(projector_info);
lanelet::GPSPoint position{geo_point.latitude, geo_point.longitude, geo_point.altitude};

lanelet::BasicPoint3d projected_local_point;

projected_local_point = projector->forward(position);

projected_local_point.z() = geo_point.altitude - projector_info.map_origin.altitude;

LocalPoint local_point;

local_point.x = projected_local_point.x();
local_point.y = projected_local_point.y();
local_point.z = projected_local_point.z();

return local_point;
}

convert the result

geo_point.latitude::::27.858572 ---> projected_local_point.x:-532.046651
geo_point.longitude::::113.676056 ---> projected_local_point.y:363.137080

lanelet2_map.osm

...

...

<nd ref="71"/>
<nd ref="72"/>
<nd ref="73"/>
<tag k="type" v="line_thin"/>
<tag k="subtype" v="solid"/>

...

<nd ref="139"/>
<nd ref="140"/>
<nd ref="141"/>
<tag k="type" v="line_thin"/>
<tag k="subtype" v="solid"/>

[jianhuaz]

lanelet2_map.osm

...

...

<nd ref="71"/>
<nd ref="72"/>
<nd ref="73"/>
<tag k="type" v="line_thin"/>
<tag k="subtype" v="solid"/>

...

<nd ref="139"/>
<nd ref="140"/>
<nd ref="141"/>
<tag k="type" v="line_thin"/>
<tag k="subtype" v="solid"/>

[poggenhans]

Why do you think it's wrong?

[jianhuaz]

@poggenhans hi, It doesn't match the actual scene. Should GNSS bias be considered?