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YukunXia avatar YukunXia commented on August 17, 2024

VLOAM-CMU-16833/src/lidar_odometry_mapping/src/laser_odometry.cpp

Lines 223 to 236 in 59f37f8

if (!detach_VO_LO)
{
para_q[0] = vloam_tf->velo_last_VOT_velo_curr.getRotation().x();
para_q[1] = vloam_tf->velo_last_VOT_velo_curr.getRotation().y();
para_q[2] = vloam_tf->velo_last_VOT_velo_curr.getRotation().z();
para_q[3] = vloam_tf->velo_last_VOT_velo_curr.getRotation().w();
para_t[0] = vloam_tf->velo_last_VOT_velo_curr.getOrigin().x();
para_t[1] = vloam_tf->velo_last_VOT_velo_curr.getOrigin().y();
para_t[2] = vloam_tf->velo_last_VOT_velo_curr.getOrigin().z();
// new (&q_last_curr) Eigen::Map<Eigen::Quaterniond>(para_q);
// new (&t_last_curr) Eigen::Map<Eigen::Vector3d>(para_t);
}

上面这段是VO初始化LO的代码。所有transformation相关的在都存在vloam_tf这个object里。

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xiosi avatar xiosi commented on August 17, 2024

谢谢您，其实是想看看frame to frame和MO结合的高频率输出是如何实现的，现在看到了。

VLOAM-CMU-16833/src/lidar_odometry_mapping/src/laser_mapping.cpp

Lines 188 to 189 in 59f37f8

q_w_curr_highfreq = q_wmap_wodom * q_wodom_curr;
t_w_curr_highfreq = q_wmap_wodom * t_wodom_curr + t_wmap_wodom;

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YukunXia avatar YukunXia commented on August 17, 2024

谢谢您，其实是想看看frame to frame和MO结合的高频率输出是如何实现的，现在看到了。

VLOAM-CMU-16833/src/lidar_odometry_mapping/src/laser_mapping.cpp

Lines 188 to 189 in 59f37f8

q_w_curr_highfreq = q_wmap_wodom * q_wodom_curr;
t_w_curr_highfreq = q_wmap_wodom * t_wodom_curr + t_wmap_wodom;

嗯没事，其实这两行是ALOAM写的，然后ALOAM我其实主要是改了下的input output的接口，统一了代码风格。

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