12345qiupeng
/
oh_my_loam
1
0
Fork 0
Code Issues Pull Requests Packages Projects Releases Wiki Activity

feat:添加中文注释

main
邱棚 2025-02-21 11:31:06 +08:00
parent fc91a30636
commit 4c5ae63188
2 changed files with 50 additions and 34 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

17
oh_my_loam/base/feature.h
View File

@ -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
}
};

67
oh_my_loam/base/types.h
View File

@ -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)