优化部分注释内容，重构部分函数名更加符合其作用

Code/RK3588/stereo_yolo/rknpu2/examples/rknn_yolov5_demo/include/ranging.h

@@ -51,6 +51,6 @@ public:
     void getInfo(cv::Mat &imgl, cv::Mat &imgr, cv::Mat &detBoxes, cv::Mat &info);
     std::vector<float> pic2cam(int u, int v);
     std::vector<int> muban(cv::Mat &left_image, cv::Mat &right_image, const int *coordinates);
-    std::vector<cv::Mat> get_range();
+    std::vector<cv::Mat> detObjectRanging();
     void horizon_estimate(cv::Mat& img, cv::Mat& bboxs,int k);
 };

Code/RK3588/stereo_yolo/rknpu2/examples/rknn_yolov5_demo/src/detection.cc

@@ -1,7 +1,13 @@
+/******************** (C) COPYRIGHT 2024 UPBot **********************************
+* File Name          : detection.cpp
+* Current Version    : V1.0
+* Author             : Rockchip & linyuehang
+* Date of Issued     : 2024.01.07 zhanli@review
+* Comments           : 目标检测类，负责调用瑞芯微芯片NPU进行目标检测推理
+********************************************************************************/
 #include "detection.h"
 #include <opencv2/opencv.hpp>
 
-
 unsigned char * Detection::load_data(FILE *fp, size_t ofst, size_t sz)
 {
     unsigned char *data;
@@ -130,7 +136,7 @@ Detection::Detection()
     inputs[0].index = 0;
     inputs[0].type = RKNN_TENSOR_UINT8;
     inputs[0].size = width * height * channel;
-    inputs[0].fmt = RKNN_TENSOR_NHWC;
+    inputs[0].fmt  = RKNN_TENSOR_NHWC;
     inputs[0].pass_through = 0;
     
 }

Code/RK3588/stereo_yolo/rknpu2/examples/rknn_yolov5_demo/src/main.cpp

@@ -1,3 +1,9 @@
+/******************** (C) COPYRIGHT 2024 UPBot **********************************
+* File Name          : main.cpp
+* Current Version    : V1.0
+* Date of Issued     : 2024.01.96 zhanli@review
+* Comments           : UPbot机器人双目目标测距算法
+********************************************************************************/
 #include <iostream>
 #include <stdio.h>
 // #include "lidar.h"
@@ -23,12 +29,18 @@ Ranging r(12, 640, 480);
 std::queue<std::vector<cv::Mat>> frameInfo;
 std::mutex g_mutex;
 
-void *ranging(void *args)		// ranging线程
+/**---------------------------------------------------------------------
+* Function    : RangingNodeTask
+* Description : 双目测距节点任务，完成摄像头帧读取、目标检测以及目标测距任务
+* Author      : hongchuyuan
+* Date        : 2023/12/13 zhanli@review 719901725@qq.com
+*---------------------------------------------------------------------**/
+void *RangingNodeTask(void *args)		
 {
 	while (true)
 	{
 		// std::cout<<" ************ enter ranging *********** "<<std::endl;
-		std::vector<cv::Mat> result = r.get_range();
+		std::vector<cv::Mat> result = r.detObjectRanging();
 		g_mutex.lock();
 		for (uchar i = 0; i < frameInfo.size(); i++)		// 只保存当前最新的图片帧信息
 		frameInfo.pop();
@@ -40,11 +52,10 @@ void *ranging(void *args)		// ranging线程
 int main(int argc, char **argv)
 {
 	pthread_t tids[1];		// 执行ranging线程
-	int ret = pthread_create(&tids[0], NULL, ranging, NULL);
+	int ret = pthread_create(&tids[0], NULL, RangingNodeTask, NULL);
 
 	while(1){
 		usleep(150000);
 	}
-
 	return 0;
 }

Code/RK3588/stereo_yolo/rknpu2/examples/rknn_yolov5_demo/src/ranging.cpp

@@ -1,3 +1,10 @@
+/******************** (C) COPYRIGHT 2024 UPBot **********************************
+* File Name          : ranging.cpp
+* Current Version    : V1.0
+* Author             : Rockchip & linyuehang
+* Date of Issued     : 2024.01.07 zhanli@review
+* Comments           : 双目摄像头目标测距算法，需要依赖OpenCV以及目标检测模块
+********************************************************************************/
 #include <iostream>
 #include <stdio.h>
 #include "ranging.h"
@@ -297,8 +304,9 @@ Ranging::Ranging(int index, int imgw, int imgh) : //初始化
     auto imgSize = Size(imgw, imgh);
     Mat r1(3, 3, CV_64F), r2(3, 3, CV_64F), p1(3, 4, CV_64F), p2(3, 4, CV_64F);
 
+    // 立体校正
     stereoRectify(cam_matrix_left.t(), distortion_l, cam_matrix_right.t(), distortion_r,
-                    imgSize, rotate.t(), trans, r1, r2, p1, p2, q);//立体校正
+                    imgSize, rotate.t(), trans, r1, r2, p1, p2, q);
 
     // 计算无畸变和修正转换映射
     initUndistortRectifyMap(cam_matrix_left.t(), distortion_l, r1, p1, imgSize, CV_32F, mapX1, mapX2); 
@@ -309,8 +317,13 @@ Ranging::Ranging(int index, int imgw, int imgh) : //初始化
 	std::cout<< " ******************* CAMERA  initialization ********************" << std::endl;
 }
 
-
+/**---------------------------------------------------------------------
-std::vector<Mat> Ranging::get_range() 
+* Function    : detObjectRanging
+* Description : 摄像头帧读取、目标检测以及目标测距任务
+* Author      : hongchuyuan
+* Date        : 2023/12/13 zhanli@review 719901725@qq.com
+*---------------------------------------------------------------------**/
+std::vector<Mat> Ranging::detObjectRanging() 
 {
     
 	double rang_old, rang_now;
@@ -378,7 +391,7 @@ std::vector<Mat> Ranging::get_range()
             // }
         }
 
-        // 存储测距信息，存储格式：距离d，宽w，高h，角度α
+        // 存储测距信息，存储格式：距离d，宽w，高h，角度alpha
         Mat info(detect_result_group.count, 4, CV_32F); 
         
         // 如果有检测目标
@@ -386,7 +399,7 @@ std::vector<Mat> Ranging::get_range()
         {
             // getInfo()修改为calObjectRanging()
             // 在这里测量目标的距离并存储到info中
-            // 优化: 这个地方重复的将左右视图转换为灰度图，浪费CPU的算力
+            // 优化:这个地方重复的将左右视图转换为灰度图，浪费CPU的算力
             getInfo(lframe, rframe, detBoxes, info);
 
             //show stereo distance