koide3 / glim

GLIM: versatile and extensible range-based 3D localization and mapping framework
MIT License
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How to change coordinates #93

Open useewa opened 1 week ago

useewa commented 1 week ago

Hello, koide-san, I would like to change the coordinates x, y, z, and for now specifically z, to make them more accurate. Tell me, in what places can this be done? I know for sure that T_world_lidar has global coordinates, including x, y, z, 1

koide3 commented 1 week ago

If you mean you want to integrate some external positional observations into the estimation system, I recommend you creating an extension module to inject positional constraints into the factor graph. Some documentation and example code can be found at the following links.

https://koide3.github.io/glim/extend.html https://github.com/koide3/glim_ext/blob/master/modules/mapping/gnss_global/include/glim_ext/gnss_global_module.hpp