Convert actors from ego vehicle coordinates to world coordinates
Automated Driving Toolbox / Driving Scenario and Sensor Modeling
The Vehicle To World block converts actor poses from the vehicle coordinates of the input ego vehicle to world coordinates. Use this block to convert non-ego actor poses output by the Scenario Reader block into world coordinates for use with the 3D simulation environment. Before using these output poses to specify vehicle positions in the 3D environment, first convert them from the cuboid to the 3D simulation world coordinate system by using a Cuboid To 3D Simulation block. For an example of this workflow, see the Visualize Sensor Data from Unreal Engine Simulation Environment example.
Cuboid To 3D Simulation | Scenario Reader | World To Vehicle