验证报告 / Verification Report
生成日期 / Generated:2026-04-28
源代码版本 / Source Revision:70fc8a2(branch: main)
源代码总行数 / Total Source Lines:8,262
文档总行数 / Total Doc Lines:9,895 (不含本报告 / excluding this report)
源代码引用标签总数 / Total Source Reference Tags:722
1. 文档概览 / Document Overview
| 文档 / Document | 行数 / Lines | 大小 / Size | 源码引用数 / Refs |
|---|---|---|---|
| 01-SYSTEM_OVERVIEW.md | 546 | 25 KB | 69 |
| 02-DATA_STRUCTURES.md | 1,001 | 41 KB | 60 |
| 03-DATA_FLOW.md | 899 | 38 KB | 107 |
| 04-ALGORITHM_01-VoxelMap_BA.md | 589 | 19 KB | 43 |
| 04-ALGORITHM_02-IMU_EKF.md | 838 | 29 KB | 60 |
| 04-ALGORITHM_03-LoopClosure.md | 1,610 | 52 KB | 84 |
| 04-ALGORITHM_04-HBA.md | 1,661 | 58 KB | 136 |
| 05-KEY_FUNCTIONS.md | 1,411 | 49 KB | 74 |
| 06-KEY_QUESTIONS.md | 1,238 | 40 KB | 80 |
| 合计 / Total | 9,895 | 351 KB | 722 |
文档/代码比率 / Doc-to-Code Ratio:9,895 / 8,262 =1.20x
2. 源文件覆盖率 / Source File Coverage
| 源文件 / Source File | 行数 / Lines | 是否覆盖 / Covered | 覆盖文档 / Referenced In |
|---|---|---|---|
voxelslam.cpp | 2,625 | ✅ | 01, 03, 04-HBA, 05, 06 |
voxel_map.hpp | 1,700 | ✅ | 02, 03, 04-VoxelBA, 05, 06 |
BTC.cpp | 1,479 | ✅ | 04-Loop, 05 |
loop_refine.hpp | 539 | ✅ | 02, 03, 04-Loop, 04-HBA |
feature_point.hpp | 370 | ✅ | 01, 03 |
tools.hpp | 367 | ✅ | 02, 04-VoxelBA, 05 |
preintegration.hpp | 332 | ✅ | 02, 04-EKF |
BTC.h | 330 | ✅ | 02, 04-Loop |
voxelslam.hpp | 301 | ✅ | 01, 03 |
ekf_imu.hpp | 219 | ✅ | 02, 03, 04-EKF, 05 |
源文件覆盖率 / Source File Coverage: 10/10 = 100%
3. VERIFY标签逐项验证 / VERIFY Tag Verification
3.1 核心结构验证 / Core Structure Verification (10/10 Pass)
| # | 文档声明 / Doc Claim | 预期 / Expected | 实际位置 / Actual Location | 实际代码 / Actual Code | 状态 / Status |
|---|---|---|---|---|---|
| 1 | IMUST结构体定义 | tools.hpp:135 | tools.hpp:135 | struct IMUST { | ✅ PASS |
| 2 | OctoTree类定义 | voxel_map.hpp:935 | voxel_map.hpp:935 | class OctoTree { | ✅ PASS |
| 3 | LidarFactor类定义 | voxel_map.hpp:109 | voxel_map.hpp:109 | class LidarFactor { | ✅ PASS |
| 4 | motion_blur函数 | ekf_imu.hpp:41 | ekf_imu.hpp:41 | void motion_blur(IMUST &xc, ...) | ✅ PASS |
| 5 | icp_normal函数 | loop_refine.hpp:47 | loop_refine.hpp:47 | bool icp_normal(...) | ✅ PASS |
| 6 | STD描述子结构体 | BTC.h:73 | BTC.h:73 | typedef struct STD { |
