lio-sam实车调试之定位测试

1.首先阅读一下recolization的源码，看一下和mapping有啥区别：

-imageProjection.cpp中：

cloudInfo.imuPreintegrationResetId = round(startOdomMsg.pose.covariance[0]);

计算相对变换（从雷达的起始时刻到当前imu数据来的时候）

-imuPreintegration.cpp中：

int imuPreintegrationResetId = 0;
订阅odom的里程计？猜测应该是方便显示
    ros::Subscriber subPoseOdomToMap;
    geometry_msgs::PoseStamped poseOdomToMap;
    subPoseOdomToMap = nh.subscribe<geometry_msgs::PoseStamped>("lio_sam/mapping/pose_odomTo_map", 1,&IMUPreintegration::odomToMapPoseHandler,      this, ros::TransportHints().tcpNoDelay());
    pubImuPath = nh.advertise<nav_msgs::Path>("lio_sam/imu/path", 1);
    map_to_odom    = tf::Transform(tf::createQuaternionFromRPY(0, 0, 0), tf::Vector3(0, 0, 0));

void odomToMapPoseHandler(const geometry_msgs::Pos