Apollo: third_party_perception 模块中全局坐标转换有bug

[JonathanJones92]

在第三方感知里，全局坐标转换用了如下函数：

这个函数接收相对左边x，y和相对偏航角。 输出全局坐标，但是实际出来的结果是 在测试的时候，本车车头转多少角度，对应的追踪目标就绕本车转多少角度，只有在目标物与本车在一条线上时才准确。

[JonathanJones92]

@zhxt @bigwhite @xczhanjun FYI

[JonathanJones92]

@diegohu FYI

[JonathanJones92]

障碍物会随主车转向时前后平移。

[JonathanJones92]

@jinghaomiao @all2one

[zhxt]

@JonathanJones92 Sorry, I have no idea about this. But I think @rongqiqiu may know since this module is added by him.

[Capri2014]

@JonathanJones92 So how exactly did you use this one for ? After 2.5, third_party_perception only support : third_party_perception + relative map + navigation planning/control for 2.5 in Navi mode. It looks like you still have HD map along with third_party_perception?

[JonathanJones92]

@Capri2014 Yes, I’m using HD map mode and I turned off the navigation mode in third party perception. From the code, it’s clear it has 2 modes which can be switched from gflags.

[JonathanJones92]

@rongqiqiu can you help me to check this issue ?

[JonathanJones92]

@zhxt @Capri2014 @richtong Dear colleagues,

I believing that this is a bug instead of question. As per discussion above, the coordinate system trans function has problems in transfering latitude distance .
The related functions are SLTOXY and GetAngleFromQuaternion. The 1st one responsible for rotating the the coordinate system and the 2nd one is to find the rotating angle.

I have been stuck in this problem for 2 weeks, I would appreciate if Baidu colleagues can help me to solve this.

Thanks,
Jonathan

[JonathanJones92]

@zhxt @Capri2014 @richtong any updates? Thanks in advance @jinghaomiao