void goICP_ros::callback_camera(const sensor_msgs::PointCloud2ConstPtr &input) { ROS_INFO("start callback camera"); std::lock_guardstd::mutex lock(mutex_camera_cloud_); latest_camera_cloud_ = *input; is_camera_new_ = true; }添加注释

/**
 * @brief Callback function for receiving camera point cloud data.
 * 
 * @param input Pointer to the received point cloud data message.
 */
void goICP_ros::callback_camera(const sensor_msgs::PointCloud2ConstPtr &input) {
    // Lock the mutex to avoid concurrent access to the shared variables
    std::lock_guard<std::mutex> lock(mutex_camera_cloud_);
    
    // Save the latest camera point cloud data message
    latest_camera_cloud_ = *input;
    
    // Set the flag indicating new data is available
    is_camera_new_ = true;
    
    // Print a message to indicate the callback function has started
    ROS_INFO("Received new camera point cloud data.");
}

该函数是一个回调函数，用于接收相机点云数据消息。在该函数中，首先通过锁定互斥量来避免对共享变量的并发访问。然后将最新的相机点云数据消息保存在成员变量latest_camera_cloud_中，并设置标志is_camera_new_以指示有新数据可用。最后，该函数将打印一条消息来表示回调函数已经开始执行。