About the code segment controlled by the estimate_point_times parameter

[SenHe524]

The code is as follows：

 if (config.estimate_point_times) {
      // 100000 * 600 / pi
      const double timing_factor = 19098593.171 / config.lidar_rpm;
      const double angle = std::atan2(point.x, point.y);
      // cut out wrap zone
      if (std::abs(angle) > 3.0) {
        continue;
      }
      store_point.intensity = angle * timing_factor;
      if (!config.clockwise_lidar) {
        store_point.intensity *= -1.0;
      }
    }

I would like to ask the author and friends, how should I understand this code? @ZacharyTaylor