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feat: Add enumerations and comments for lidar processing structures

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邱棚 2025-03-25 12:03:44 +08:00
parent 7cc4175de6
commit db492f0498
1 changed files with 41 additions and 32 deletions
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73
src/preprocess.h
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@ -14,20 +14,26 @@ using namespace std;
typedef pcl::PointXYZINormal PointType;
typedef pcl::PointCloud<PointType> PointCloudXYZI;
// 激光雷达类型枚举
enum LID_TYPE{AVIA = 1, VELO16, OUST64, MARSIM}; //{1, 2, 3}
// 时间单位枚举
enum TIME_UNIT{SEC = 0, MS = 1, US = 2, NS = 3};
// 特征类型枚举
enum Feature{Nor, Poss_Plane, Real_Plane, Edge_Jump, Edge_Plane, Wire, ZeroPoint};
// 周围点枚举
enum Surround{Prev, Next};
// 边缘跳跃类型枚举
enum E_jump{Nr_nor, Nr_zero, Nr_180, Nr_inf, Nr_blind};
// 原始类型结构体
struct orgtype
{
double range;
double dista;
double angle[2];
double intersect;
E_jump edj[2];
Feature ftype;
double range; // 距离
double dista; // 距离差
double angle[2]; // 角度
double intersect; // 交点
E_jump edj[2]; // 边缘跳跃类型
Feature ftype; // 特征类型
orgtype()
{
range = 0;
@ -41,9 +47,9 @@ struct orgtype
namespace velodyne_ros {
struct EIGEN_ALIGN16 Point {
PCL_ADD_POINT4D;
float intensity;
float time;
uint16_t ring;
float intensity; // 强度
float time; // 时间
uint16_t ring; // 环
EIGEN_MAKE_ALIGNED_OPERATOR_NEW
};
} // namespace velodyne_ros
@ -59,12 +65,12 @@ POINT_CLOUD_REGISTER_POINT_STRUCT(velodyne_ros::Point,
namespace ouster_ros {
struct EIGEN_ALIGN16 Point {
PCL_ADD_POINT4D;
float intensity;
uint32_t t;
uint16_t reflectivity;
uint8_t ring;
uint16_t ambient;
uint32_t range;
float intensity; // 强度
uint32_t t; // 时间
uint16_t reflectivity; // 反射率
uint8_t ring; // 环
uint16_t ambient; // 环境光
uint32_t range; // 距离
EIGEN_MAKE_ALIGNED_OPERATOR_NEW
};
} // namespace ouster_ros
@ -90,23 +96,26 @@ class Preprocess
Preprocess();
~Preprocess();
// 处理函数
void process(const livox_ros_driver::CustomMsg::ConstPtr &msg, PointCloudXYZI::Ptr &pcl_out);
void process(const sensor_msgs::PointCloud2::ConstPtr &msg, PointCloudXYZI::Ptr &pcl_out);
void set(bool feat_en, int lid_type, double bld, int pfilt_num);
// sensor_msgs::PointCloud2::ConstPtr pointcloud;
// 点云数据
PointCloudXYZI pl_full, pl_corn, pl_surf;
PointCloudXYZI pl_buff[128]; //maximum 128 line lidar
vector<orgtype> typess[128]; //maximum 128 line lidar
float time_unit_scale;
int lidar_type, point_filter_num, N_SCANS, SCAN_RATE, time_unit;
double blind;
bool feature_enabled, given_offset_time;
ros::Publisher pub_full, pub_surf, pub_corn;
PointCloudXYZI pl_buff[128]; // 最大128线激光雷达
vector<orgtype> typess[128]; // 最大128线激光雷达
float time_unit_scale; // 时间单位比例
int lidar_type, point_filter_num, N_SCANS, SCAN_RATE, time_unit; // 激光雷达类型、点过滤数量、扫描次数、扫描速率、时间单位
double blind; // 盲区
bool feature_enabled, given_offset_time; // 特征使能、给定偏移时间
ros::Publisher pub_full, pub_surf, pub_corn; // 发布器
private:
// 处理函数
void avia_handler(const livox_ros_driver::CustomMsg::ConstPtr &msg);
void oust64_handler(const sensor_msgs::PointCloud2::ConstPtr &msg);
void velodyne_handler(const sensor_msgs::PointCloud2::ConstPtr &msg);
@ -117,14 +126,14 @@ class Preprocess
bool small_plane(const PointCloudXYZI &pl, vector<orgtype> &types, uint i_cur, uint &i_nex, Eigen::Vector3d &curr_direct);
bool edge_jump_judge(const PointCloudXYZI &pl, vector<orgtype> &types, uint i, Surround nor_dir);
int group_size;
double disA, disB, inf_bound;
double limit_maxmid, limit_midmin, limit_maxmin;
double p2l_ratio;
double jump_up_limit, jump_down_limit;
double cos160;
double edgea, edgeb;
double smallp_intersect, smallp_ratio;
double vx, vy, vz;
int group_size; // 组大小
double disA, disB, inf_bound; // 距离参数、无穷边界
double limit_maxmid, limit_midmin, limit_maxmin; // 限制参数
double p2l_ratio; // 比例
double jump_up_limit, jump_down_limit; // 跳跃限制
double cos160; // 余弦值
double edgea, edgeb; // 边缘参数
double smallp_intersect, smallp_ratio; // 小平面参数
double vx, vy, vz; // 向量
};
#endif