How to align point cloud map and vector map or kml map

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Hi Hatem,

1. Could you please explain a little bit what "at least orientation as the OpenDRIVE map. " means? Since I previously thought the point cloud map contains purely local information and has no orientation information included. Then how to determine/modify the orientation when collecting data?

2. In my understanding (please correct my if I am wrong), the open drive map contains the real-world road heading (direction) information and I wish to keep it for the downstream application considerations. Then, I should rotate the point cloud map rather than modify the open drive map, is that correct? I will look into the code you provide. Thanks!

Best regards, Xintao

1. The orientation I am talking about, it is not a component in each point in the map, rather it is the relative orientation to the origin (north, east, west, south). you can rotate any map in the 3D space around any point in 3 direction (yaw, pitch, roll)

The if both pointcloud and opendrive maps has same origin, then this is easy just rotate one of them around that origin with the negative of the angle error. If not, then you need to translate both to one common origin (one exact location in both maps) , then after translate you can try to find the rotation angle (yaw) .

1. All depends on which you had first (pointcloud or opendrive) , you need to use one to create the other one so you have one reference map and inherently one origin.

Regards,

Hi Hatem,

Thanks for your reply!

For those who have the same question: I use the pcl-tool Hatem mentioned to rotate and translate the point cloud map to tackle the issue.