In order to to use pointcloud map and vector map, they have to be made in same coordinate. Currently, vectormap (both aisan map and lanelet2) is georeferenced, but there are no field in pointcloud map to explain its origin. If pointcloud can contain some header information for georeferencing (e.g. ENU lat/lon origin) in some way, then users would have more options of choosing projection methods at runtime.
Therefore, I would like to set a way to georeference pointcloud data in Autoware. (Both in Autoware.ai and Autoware.auto). I think creating new file to hold latitude/longitude origin of pointcloud map would be enough, but I also would like to ask if anyone can think of more compact way of doing this.