[笔记]三维激光SLAM学习一（5）——LOAM代码transformMaintenance篇

[笔记]三维激光SLAM学习一（5）——LOAM代码transformMaintenance篇

这部分是LOAM代码的第四个节点，也是最后一篇。
先回顾一下节点图：

该节点订阅了以下消息：

• /laser_odom_to_init（Lidar里程计估计位姿到map坐标系的变换）
• /aft_mapped_to_init消息（laserMapping节点优化后的位姿到map坐标系的变换）

发布以下消息：

• /integrated_to_init

下面我们来分析一下它所发布的消息到底是什么含义。

Main函数

这个节点主函数比较简单

int main(int argc, char** argv)
{
  ros::init(argc, argv, "transformMaintenance");
  ros::NodeHandle nh;

  ros::Subscriber subLaserOdometry = nh.subscribe<nav_msgs::Odometry> 
                                     ("/laser_odom_to_init", 5, laserOdometryHandler);

  ros::Subscriber subOdomAftMapped = nh.subscribe<nav_msgs::Odometry> 
                                     ("/aft_mapped_to_init", 5, odomAftMappedHandler);

  ros::Publisher pubLaserOdometry2 = nh.advertise<nav_msgs::Odometry> ("/integrated_to_init", 5);
  pubLaserOdometry2Pointer = &pubLaserOdometry2;
  laserOdometry2.header.frame_id = "/camera_init";
  laserOdometry2.child_frame_id = "/camera";

  tf::TransformBroadcaster tfBroadcaster2;
  tfBroadcaster2Pointer = &tfBroadcaster2;
  laserOdometryTrans2.frame_id_ = "/camera_init";
  laserOdometryTrans2.child_frame_id_ = "/camera";

  ros::spin();

  return 0;
}

可以看出 /integrated_to_init 消息是由发布器 pubLaserOdometry2 发布的，实际上就是由发布器 pubLaserOdometry2Pointer 发布的。我们顺藤摸瓜，找到 pubLaserOdometry2Pointer 的发布函数，发现每次接收到 /laser_odom_to_init 消息并调用回调函数 laserOdometryHandler 时，就发布一次该消息。

回调函数laserOdometryHandler

//接收laserOdometry的信息
void laserOdometryHandler(const nav_msgs::Odometry::ConstPtr& laserOdometry)
{
  double roll, pitch, yaw;
  geometry_msgs::Quaternion geoQuat = laserOdometry->pose.pose.orientation;
  tf::Matrix3x3(tf::Quaternion(geoQuat.z, -geoQuat.x, -geoQuat.y, geoQuat.w)).getRPY(roll, pitch, yaw);

  //得到旋转平移矩阵
  transformSum[0] = -pitch;
  transformSum[1] = -yaw;
  transformSum[2] = roll;

  transformSum[3] = laserOdometry->pose.pose.position.x;
  transformSum[4] = laserOdometry->pose.pose.position.y;
  transformSum[5] = laserOdometry->pose.pose.position.z;

  transformAssociateToMap();

  geoQuat = tf::createQuaternionMsgFromRollPitchYaw
            (transformMapped[2], -transformMapped[0], -transformMapped[1]);

  laserOdometry2.header.stamp = laserOdometry->header.stamp;
  laserOdometry2.pose.pose.orientation.x = -geoQuat.y;
  laserOdometry2.pose.pose.orientation.y = -geoQuat.z;
  laserOdometry2.pose.pose.orientation.z = geoQuat.x;
  laserOdometry2.pose.pose.orientation.w = geoQuat.w;
  laserOdometry2.pose.pose.position.x = transformMapped[3];
  laserOdometry2.pose.pose.position.y = transformMapped[4];
  laserOdometry2.pose.pose.position.z = transformMapped[5];
  pubLaserOdometry2Pointer->publish(laserOdometry2);

  //发送旋转平移量
  laserOdometryTrans2.stamp_ = laserOdometry->header.stamp;
  laserOdometryTrans2.setRotation(tf::Quaternion(-geoQuat.y, -geoQuat.z, geoQuat.x, geoQuat.w));
  laserOdometryTrans2.setOrigin(tf::Vector3(transformMapped[3], transformMapped[4], transformMapped[5]));
  tfBroadcaster2Pointer->sendTransform(laserOdometryTrans2);
}

通过该回调函数可以看出，他完成的就是一个简单的坐标转换，得到经过 laserMapping 优化后的Lidar位姿。

总结

这个 /integrated_to_init 消息实际就是融合后的Lidar轨迹。
说白了就是：

• 有优化结果：拿这一时刻的优化结果作为轨迹；
• 没有优化结果：直接拿里程计结果作为这一时刻的轨迹。

Ps.在下一篇文章里，会总结一下LOAM的细节和关键点，然后就转入下一个坑里。