添加utm变换需要的参数配置

TrackingRos.cpp

@@ -314,6 +314,12 @@ void TrackingRos::Init(ros::NodeHandle& nh)
         m_kitti2origin = config["KITTI2ORIGIN"].as<std::vector<std::vector<double>>>();
     else
         SDK_LOG(SDK_INFO, "can not load KITTI2ORIGIN from yaml");
+    if(config["UTM_STATION"])
+        m_UTM_station = config["UTM_STATION"].as<std::vector<double>>();
+    if(config["WGS84_STATION"])
+        m_wgs84_station = config["WGS84_STATION"].as<std::vector<double>>();
+    if(config["TRANS2STATION"])
+        m_trans2station = config["TRANS2STATION"].as<std::vector<std::vector<double>>>();
 
     SDK_LOG(SDK_INFO, "trans = [%s]", GetMatrixStr(m_trans, 4, 4).c_str());
     SDK_LOG(SDK_INFO, "kitti2origin = [%s]", GetMatrixStr(m_kitti2origin,4,4).c_str());