feat(hesai): add filtered pointcloud counter function #247
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Codecov ReportAll modified and coverable lines are covered by tests ✅
Additional details and impacted files@@ Coverage Diff @@
## main #247 +/- ##
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+ Coverage 26.07% 26.40% +0.33%
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Files 101 101
Lines 9232 9171 -61
Branches 2213 2185 -28
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+ Hits 2407 2422 +15
+ Misses 6436 6362 -74
+ Partials 389 387 -2
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| NebulaPointCloud point_azimuth_start; | ||
| NebulaPointCloud point_azimuth_end; | ||
| NebulaPointCloud point_timestamp_start; | ||
| NebulaPointCloud point_timestamp_end; |
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Please change these from NebulaPointCloud to their respective data types (e.g. float for azimuth, uint64_t for timestamp.
| uint16_t distance_counter = 0; | ||
| uint16_t fov_counter = 0; | ||
| uint16_t timestamp_counter = 0; |
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Please add filtered to the names, e.g. n_filtered_distance, n_filtered_fov etc.
| @@ -36,6 +37,52 @@ | |||
| namespace nebula::drivers | |||
| { | |||
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| struct HesaiDecodeFilteredInfo | |||
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Please also add counters for
- invalid points (distance == 0), line 198
- points filtered due to dual_return_threshold (line 238)
- points filtered due to identical return type (line 217)
- points kept in total (= not filtered) (shall be equal to the final pointcloud size)
| /// @brief For each channel, its firing offset relative to the block in nanoseconds | ||
| std::array<int, SensorT::packet_t::n_channels> channel_firing_offset_ns_; | ||
| /// @brief For each return mode, the firing offset of each block relative to its packet in | ||
| /// nanoseconds | ||
| std::array<std::array<int, SensorT::packet_t::n_blocks>, SensorT::packet_t::max_returns> | ||
| block_firing_offset_ns_; | ||
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| void get_minmax_info(const NebulaPoint & point) |
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This can be moved into HesaiDecodeFilteredInfo so it is clear to readers that it belongs to that struct.
| NebulaPointCloud point_timestamp_start; | ||
| NebulaPointCloud point_timestamp_end; | ||
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| void clear() |
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Please make sure that all fields are reset (e.g. timestamp_counter is missing)
| float distance_start = 0; | ||
| float distance_end = 0; | ||
| float raw_azimuth_start = 0; | ||
| float raw_azimuth_end = 0; | ||
| std::uint32_t packet_timestamp_start = 0; | ||
| std::uint32_t packet_timestamp_end = 0; | ||
| NebulaPointCloud point_azimuth_start; | ||
| NebulaPointCloud point_azimuth_end; | ||
| NebulaPointCloud point_timestamp_start; | ||
| NebulaPointCloud point_timestamp_end; |
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- Please rename from
start/endtomin/max. - Please also add unit suffixes like
_nsfor nanoseconds,_radfor radians,_mfor meters etc. packet_timestamp_min/maxshould probably have typeuint64_t(uint32_tcannot represent absolute timestamps in nanoseconds)
Instead of point_, please rename to cloud_ so that it is clear that those values are among the points that were not filtered.
I would suggest replacing raw_ with packet_ as well, so we have packet_ (before filtering) vs. cloud_ (after filtering).
| j["distance_counter"] = distance_counter; | ||
| j["fov_counter"] = fov_counter; | ||
| j["timestamp_counter"] = timestamp_counter; |
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For filters, let's output them as a JSON array instead:
"filter_pipeline": [
{ "filter": "distance", "count": 50 },
{ "filter": "fov", "count": 120 }
]
PR Type
Description
This pr will be able to watch filtered pointcloud's count by each filtering such as distance, fov and so on. It is usefull for finding filtering error while seeking causes of lidar pointclouds error.
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