feat: Add enumerations and comments for lidar processing structures

src/preprocess.h

@@ -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 range; // 距离
-  double dista; 
+  double dista; // 距离差
-  double angle[2];
+  double angle[2]; // 角度
-  double intersect;
+  double intersect; // 交点
-  E_jump edj[2];
+  E_jump edj[2]; // 边缘跳跃类型
-  Feature ftype;
+  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 intensity; // 强度
-      float time;
+      float time; // 时间
-      uint16_t ring;
+      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;
+      float intensity;             // 强度
-      uint32_t t;
+      uint32_t t;                   // 时间
-      uint16_t reflectivity;
+      uint16_t reflectivity;   // 反射率
-      uint8_t  ring;
+      uint8_t  ring;             // 环
-      uint16_t ambient;
+      uint16_t ambient;     // 环境光
-      uint32_t range;
+      uint32_t range;        // 距离
       EIGEN_MAKE_ALIGNED_OPERATOR_NEW
   };
 }  // namespace ouster_ros
@@ -91,22 +97,25 @@ 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
+  PointCloudXYZI pl_buff[128]; // 最大128线激光雷达
-  vector<orgtype> typess[128]; //maximum 128 line lidar
+  vector<orgtype> typess[128]; // 最大128线激光雷达
-  float time_unit_scale;
+  float time_unit_scale; // 时间单位比例
-  int lidar_type, point_filter_num, N_SCANS, SCAN_RATE, time_unit;
+  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;
+  double blind; // 盲区
-  bool feature_enabled, given_offset_time;
+  bool feature_enabled, given_offset_time; // 特征使能、给定偏移时间
-  ros::Publisher pub_full, pub_surf, pub_corn;
+  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;
+  int group_size; // 组大小
-  double disA, disB, inf_bound;
+  double disA, disB, inf_bound;  // 距离参数、无穷边界
-  double limit_maxmid, limit_midmin, limit_maxmin;
+  double limit_maxmid, limit_midmin, limit_maxmin;  // 限制参数
-  double p2l_ratio;
+  double p2l_ratio;  // 比例
-  double jump_up_limit, jump_down_limit;
+  double jump_up_limit, jump_down_limit;  // 跳跃限制
-  double cos160;
+  double cos160;  // 余弦值
-  double edgea, edgeb;
+  double edgea, edgeb;  // 边缘参数
-  double smallp_intersect, smallp_ratio;
+  double smallp_intersect, smallp_ratio;  // 小平面参数
-  double vx, vy, vz;
+  double vx, vy, vz;  // 向量
 };
 #endif