How to change coordinates

[useewa]

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]

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