Use NedTransform to transform airsim units to world units

enterstudio · Feb 19, 2018 · 2f7d781 · 2f7d781
1 parent 15ea8ca
commit 2f7d781
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Showing 3 changed files with 9 additions and 2 deletions.
diff --git a/Unreal/Plugins/AirSim/Source/NedTransform.cpp b/Unreal/Plugins/AirSim/Source/NedTransform.cpp
@@ -29,6 +29,11 @@ float NedTransform::toNedMeters(float length)
     return length / world_to_meters_;
 }
 
+float NedTransform::toNeuUU(float length)
+{
+    return length * world_to_meters_;
+}
+
 NedTransform::Vector3r NedTransform::toNedMeters(const FVector& position, bool use_offset)
 {
     return NedTransform::toVector3r(position - (use_offset ? offset_ : FVector::ZeroVector), 1 / world_to_meters_, true);

diff --git a/Unreal/Plugins/AirSim/Source/NedTransform.h b/Unreal/Plugins/AirSim/Source/NedTransform.h
@@ -20,6 +20,7 @@ class NedTransform
     static FQuat toFQuat(const Quaternionr& q, bool convert_from_ned);
     static Quaternionr toQuaternionr(const FQuat& q, bool convert_to_ned);
     static float toNedMeters(float length);
+    static float toNeuUU(float length);
 
     //TODO: make below private
     static FVector toFVector(const Vector3r& vec, float scale, bool convert_from_ned);

diff --git a/Unreal/Plugins/AirSim/Source/PIPCamera.cpp b/Unreal/Plugins/AirSim/Source/PIPCamera.cpp
@@ -7,6 +7,7 @@
 #include "Materials/MaterialInstanceDynamic.h"
 #include "AirBlueprintLib.h"
 #include "ImageUtils.h"
+#include "NedTransform.h"
 
 
 APIPCamera::APIPCamera()
@@ -145,7 +146,7 @@ void APIPCamera::updateCaptureComponentSetting(USceneCaptureComponent2D* capture
     if (!std::isnan(setting.fov_degrees))
         capture->FOVAngle = setting.fov_degrees;
     if (!std::isnan(setting.ortho_width))
-        capture->OrthoWidth = setting.ortho_width * 100.0f;
+        capture->OrthoWidth = NedTransform::toNeuUU(setting.ortho_width);
 
     updateCameraPostProcessingSetting(capture->PostProcessSettings, setting);
 }
@@ -160,7 +161,7 @@ void APIPCamera::updateCameraSetting(UCameraComponent* camera, const CaptureSett
     if (!std::isnan(setting.fov_degrees))
         camera->SetFieldOfView(setting.fov_degrees);
     if (!std::isnan(setting.ortho_width))
-        camera->SetOrthoWidth(setting.ortho_width * 100.0f);
+        camera->SetOrthoWidth(NedTransform::toNeuUU(setting.ortho_width));
 
     updateCameraPostProcessingSetting(camera->PostProcessSettings, setting);
 }