12345qiupeng
/
gtsam
1
0
Fork 0
Code Issues Pull Requests Packages Projects Releases Wiki Activity

enu coordinates

release/4.3a0
dellaert 2014-01-25 18:57:10 -05:00
parent 8e96f6a0d4
commit 73b3748bc6
1 changed files with 6 additions and 3 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

9
gtsam/navigation/tests/testGPSFactor.cpp
View File

@ -27,9 +27,12 @@ using namespace gtsam;
TEST( GPSFactor, Constructors ) { TEST( GPSFactor, Constructors ) {
Key key(1); Key key(1);
SharedNoiseModel model = noiseModel::Isotropic::Sigma(3, 0.25); SharedNoiseModel model = noiseModel::Isotropic::Sigma(3, 0.25);
// TODO: convert from GPS to NED // TODO: convert from GPS to UTM
Point3 gpsInNED; // GPS: -84.30482,33.87071,274
GPSFactor factor1(key, gpsInNED, model); // UTM: 45N 250694.42 3751090.08 (Eastings, Northings)
// We choose ENU coordinate system with origin 250000 3751000
Point3 enu(694.42, 90.08, 274);
GPSFactor factor1(key, enu, model);
} }
// ************************************************************************* // *************************************************************************