diff --git a/oh_my_loam/base/feature.h b/oh_my_loam/base/feature.h
index 7e50e00..4d2af23 100644
--- a/oh_my_loam/base/feature.h
+++ b/oh_my_loam/base/feature.h
@@ -4,17 +4,18 @@
 
 namespace oh_my_loam {
 
+// 定义特征结构体，用于存储点云的不同类型特征
 struct Feature {
-  TPointCloudPtr cloud_corner;
-  TPointCloudPtr cloud_sharp_corner;
-  TPointCloudPtr cloud_surf;
-  TPointCloudPtr cloud_flat_surf;
+  TPointCloudPtr cloud_corner;        // 存储角点的点云
+  TPointCloudPtr cloud_sharp_corner;  // 存储锐角点的点云
+  TPointCloudPtr cloud_surf;          // 存储曲面点的点云
+  TPointCloudPtr cloud_flat_surf;     // 存储平面点的点云
 
   Feature() {
-    cloud_corner.reset(new TPointCloud);
-    cloud_sharp_corner.reset(new TPointCloud);
-    cloud_surf.reset(new TPointCloud);
-    cloud_flat_surf.reset(new TPointCloud);
+    cloud_corner.reset(new TPointCloud);  // 初始化角点点云
+    cloud_sharp_corner.reset(new TPointCloud);  // 初始化锐角点点云
+    cloud_surf.reset(new TPointCloud);  // 初始化曲面点点云
+    cloud_flat_surf.reset(new TPointCloud);  // 初始化平面点点云
   }
 };
 
diff --git a/oh_my_loam/base/types.h b/oh_my_loam/base/types.h
index 08d7b5c..a017a1f 100644
--- a/oh_my_loam/base/types.h
+++ b/oh_my_loam/base/types.h
@@ -4,45 +4,51 @@
 
 namespace oh_my_loam {
 
+// 定义点类型的枚举
 enum class PointType {
-  FLAT_SURF = -2,
-  SURF = -1,
-  NORNAL = 0,
-  CORNER = 1,
-  SHARP_CORNER = 2
+  FLAT_SURF = -2,  // 平面表面
+  SURF = -1,       // 曲面
+  NORNAL = 0,      // 普通点
+  CORNER = 1,      // 角点
+  SHARP_CORNER = 2 // 锐角点
 };
 
+// 定义点云类型
 struct PointXYZT;
-using TPoint = PointXYZT;
-using TPointCloud = pcl::PointCloud<TPoint>;
-using TPointCloudPtr = TPointCloud::Ptr;
-using TPointCloudConstPtr = TPointCloud::ConstPtr;
+using TPoint = PointXYZT;  // 定义一个点类型
+using TPointCloud = pcl::PointCloud<TPoint>;  // 点云类型
+using TPointCloudPtr = TPointCloud::Ptr;      // 点云指针类型
+using TPointCloudConstPtr = TPointCloud::ConstPtr;   // 点云常量指针类型
 
 struct PointXYZTCT;
-using TCTPoint = PointXYZTCT;
-using TCTPointCloud = pcl::PointCloud<TCTPoint>;
-using TCTPointCloudPtr = TCTPointCloud::Ptr;
-using TCTPointCloudConstPtr = TCTPointCloud::ConstPtr;
+using TCTPoint = PointXYZTCT;  // 定义带类型和曲率的点类型
+using TCTPointCloud = pcl::PointCloud<TCTPoint>;   // 带类型和曲率的点云类型
+using TCTPointCloudPtr = TCTPointCloud::Ptr;       // 带类型和曲率的点云指针类型
+using TCTPointCloudConstPtr = TCTPointCloud::ConstPtr;  // 带类型和曲率的点云常量指针类型
 
+// 定义PointXYZT结构体，表示具有位置和时间的点
 struct EIGEN_ALIGN16 PointXYZT {
-  PCL_ADD_POINT4D;
+  PCL_ADD_POINT4D;   // 添加PCL的4D坐标
   union {
-    float time;
-    float intensity;
-    float data_c[4];
+    float time;   // 时间戳
+    float intensity;  // 强度值
+    float data_c[4];  // 用于存储其他数据
   };
 
+  // 默认构造函数，初始化为零值
   PointXYZT() {
     x = y = z = 0.0f;
     data[3] = 1.0f;
     time = 0.0f;
   }
 
+  // 带参数构造函数
   PointXYZT(float x, float y, float z, float time = 0.0f)
       : x(x), y(y), z(z), time(time) {
     data[3] = 1.0f;
   }
 
+  // 从common::Point构造
   PointXYZT(const common::Point &p) {
     x = p.x;
     y = p.y;
@@ -51,6 +57,7 @@ struct EIGEN_ALIGN16 PointXYZT {
     time = 0.0f;
   }
 
+  // 拷贝构造函数
   PointXYZT(const PointXYZT &p) {
     x = p.x;
     y = p.y;
@@ -58,33 +65,37 @@ struct EIGEN_ALIGN16 PointXYZT {
     data[3] = 1.0f;
     time = p.time;
   }
-  EIGEN_MAKE_ALIGNED_OPERATOR_NEW
+  EIGEN_MAKE_ALIGNED_OPERATOR_NEW  // 确保数据结构的对齐
 };
 
+// 定义PointXYZTCT结构体，表示带有类型和曲率信息的点
 struct PointXYZTCT {
-  PCL_ADD_POINT4D;
+  PCL_ADD_POINT4D;  // 添加PCL的4D坐标
   union EIGEN_ALIGN16 {
     struct {
-      float time;
-      float curvature;
-      PointType type;
+      float time;  // 时间戳
+      float curvature;  // 曲率
+      PointType type;  // 点的类型（如角点、平面点等）
     };
-    float data_c[4];
+    float data_c[4];  // 用于存储其他数据
   };
 
+  // 默认构造函数，初始化为零值
   PointXYZTCT() {
     x = y = z = 0.0f;
     data[3] = 1.0f;
     time = curvature = 0.0f;
-    type = PointType::NORNAL;
+    type = PointType::NORNAL;  // 默认点类型为普通点
   }
 
+  // 带参数构造函数
   PointXYZTCT(float x, float y, float z, float time = 0.0f,
               float curvature = 0.0f, PointType type = PointType::NORNAL)
       : x(x), y(y), z(z), time(time), curvature(curvature), type(type) {
     data[3] = 1.0f;
   }
 
+  // 从common::Point构造
   PointXYZTCT(const common::Point &p) {
     x = p.x;
     y = p.y;
@@ -95,6 +106,7 @@ struct PointXYZTCT {
     type = PointType::NORNAL;
   }
 
+  // 从TPoint构造
   PointXYZTCT(const TPoint &p) {
     x = p.x;
     y = p.y;
@@ -105,6 +117,7 @@ struct PointXYZTCT {
     type = PointType::NORNAL;
   }
 
+  // 拷贝构造函数
   PointXYZTCT(const PointXYZTCT &p) {
     x = p.x;
     y = p.y;
@@ -115,12 +128,13 @@ struct PointXYZTCT {
     type = p.type;
   }
 
-  EIGEN_MAKE_ALIGNED_OPERATOR_NEW
-} EIGEN_ALIGN16;
+  EIGEN_MAKE_ALIGNED_OPERATOR_NEW // 确保数据结构的对齐
+} EIGEN_ALIGN16; // 对齐
 
 }  // namespace oh_my_loam
 
 // clang-format off
+// 注册PointXYZT类型的点云结构
 POINT_CLOUD_REGISTER_POINT_STRUCT(
   oh_my_loam::PointXYZT,
   (float, x, x)
@@ -130,6 +144,7 @@ POINT_CLOUD_REGISTER_POINT_STRUCT(
   (float, intensity, intensity)
 )
 
+// 注册PointXYZTCT类型的点云结构
 POINT_CLOUD_REGISTER_POINT_STRUCT(
   oh_my_loam::PointXYZTCT,
   (float, x, x)