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refactor(nebula_decoders_hesai): implement generic Hesai decoder #42

Merged
merged 28 commits into from
Sep 11, 2023
Merged

refactor(nebula_decoders_hesai): implement generic Hesai decoder #42

merged 28 commits into from
Sep 11, 2023

Commits on Aug 9, 2023

  1. Implement generic Hesai decoder [WIP] 

    Implement a templated class HesaiDecoder which can handle all currently
supported Hesai sensors.
    @mojomex
    mojomex committed Aug 9, 2023
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  2. Reach geometric equivalence to previous implementation

    @mojomex
    mojomex committed Aug 9, 2023
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  3. Refactor, correct timing correction (for most sensors)

    @mojomex
    mojomex committed Aug 9, 2023
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  4. Revert raising limits for constexpr evaluation

    @mojomex
    mojomex committed Aug 9, 2023
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  5. Hoist angle_corrector_t from packet structs to HesaiSensor

    @mojomex
    mojomex committed Aug 9, 2023
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  6. Add support for firing time correction, fix return types

    @mojomex
    mojomex committed Aug 9, 2023
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  7. Update design document for HesaiDecoder

    @mojomex
    mojomex committed Aug 9, 2023
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  8. Refactor unit tests, add debug counters to HesaiDecoder

    @mojomex
    mojomex committed Aug 9, 2023
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Commits on Aug 10, 2023

  1. Fix point filtering bugs, update unit tests 

    Unit tests now expect a `dual_return_distance_threshold == 0.1` and
the `<=` resp. `>=` operators for excluding points under/over a limit.
    @mojomex
    mojomex committed Aug 10, 2023
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Commits on Aug 17, 2023

  1. Update unit test data to remove duplicate points, correct ordering

    @mojomex
    mojomex committed Aug 17, 2023
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  2. Remove debug output, add more docs, improve unit tests

    @mojomex
    mojomex committed Aug 17, 2023
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  3. Fix typos

    @mojomex
    mojomex committed Aug 17, 2023
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Commits on Aug 18, 2023

  1. Update signature of getReturnType

    @mojomex
    mojomex committed Aug 18, 2023
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  2. Fix limited precision lookup tables

    @mojomex
    mojomex committed Aug 18, 2023
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  3. Increase distance precision

    @mojomex
    mojomex committed Aug 18, 2023
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  4. Update unprecise unit test reference data

    @mojomex
    mojomex committed Aug 18, 2023
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  5. Add azimuth--field LUT for AT128

    @mojomex
    mojomex committed Aug 18, 2023
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  6. Reserve max size for hesai decoder pointclouds

    @mojomex
    mojomex committed Aug 18, 2023
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  7. Revert from debug to original unit test checks

    @mojomex
    mojomex committed Aug 18, 2023
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  8. Implement scan timestamp calculation mid-packet 

    If a scan is completed mid-packet, the new scan's timestamp is neither that of the current, nor that of the next packet.
Rather, it is the current packet's timestamp plus the minimum time offset
of any point in the remainder of the packet.
    @mojomex
    mojomex committed Aug 18, 2023
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Commits on Aug 21, 2023

  1. Optimize Hesai decoder performance 

    Instead of separating azimuth/elevation correction and sin/cos lookups,
these values are now all returned by `getCorrectedAngleData`.

The `return_units` vector is now allocated once per return group,
instead of every unit.

`findField` for AT128 now contains not modulos or arithmetic and thus
is significantly faster.
    @mojomex
    mojomex committed Aug 21, 2023
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  2. Update docs with generic decoder design

    @mojomex
    mojomex committed Aug 21, 2023
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  3. Add guide for adding new Hesai sensors

    @mojomex
    mojomex committed Aug 21, 2023
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Commits on Aug 22, 2023

  1. Delete debug scripts

    @mojomex
    mojomex committed Aug 22, 2023
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Commits on Aug 23, 2023

  1. Fix bound for findField loop in angle corrector

    @mojomex
    mojomex committed Aug 23, 2023
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Commits on Sep 5, 2023

  1. Merge branch 'main' into generic-hesai-decoder

    @amc-nu
    amc-nu authored Sep 5, 2023
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Commits on Sep 11, 2023

  1. Merge branch 'main' into generic-hesai-decoder

    @amc-nu
    amc-nu authored Sep 11, 2023
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  2. cspell. fix merge error 

    Signed-off-by: amc-nu <[email protected]>
    @amc-nu
    amc-nu committed Sep 11, 2023
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