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Vision/tool/utils.py

@@ -144,8 +144,8 @@ def out_bounds_dete(pm_y, pm_x, piont_y, piont_x):
 
 def remove_nan_mean_value(pm, y, x, iter_max=50):
     y, x = out_bounds_dete(pm.shape[0], pm.shape[1], y, x)
-    point_x, point_y, point_z = pm[y, x]
-    if np.isnan(point_x):
+    point_x, point_y, point_z = pm[y, x]#得到这个位置的点云的坐标
+    if np.isnan(point_x):#如果这个位置是nan，找到周围50个像素的范围内的点云，并求平均来代替这个点的坐标
         point_x_list = []
         point_y_list = []
         point_z_list = []
@@ -154,7 +154,7 @@ def remove_nan_mean_value(pm, y, x, iter_max=50):
         pm_shape_x = pm.shape[1]
         remove_nan_isok = False
         print('Nan值去除')
-        while iter_current < iter_max:
+        while iter_current < iter_max:#这个邻域内不是nan的点就被放到列表中
             # 计算开始点
             if y - iter_current > 0:
                 y_start = y - iter_current
@@ -180,7 +180,7 @@ def remove_nan_mean_value(pm, y, x, iter_max=50):
                         point_z_list.append(pm[y_current, x_current][2])
 
             len_point_x = len(point_x_list)
-            if len_point_x > 0:
+            if len_point_x > 0:#计算x,y,z的均值
                 point_x = sum(point_x_list)/len_point_x
                 point_y = sum(point_y_list)/len_point_x
                 point_z = sum(point_z_list)/len_point_x