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Docs: Document ambience stimbuff and high-val param

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Hayodea Hekol
2025-11-23 07:34:59 -04:00
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docs/livox-gen1-lidar-dap-spec.md
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@@ -31,7 +31,27 @@ Each stim-buff-api is designed to work with specific stim-iface libraries that u
**Stim-Buff-API**: `livoxGen1-pcloudIntensity`
**Quale-Iface-API**: `pcloudIntensity` - Processes intensity/reflectivity data from point clouds
### 2. Point Cloud Coordinate Data Device (Extrospector)
### 2. Point Cloud Ambience Data Device (Interoceptor)
**Purpose**: Provides ambience data from the LiDAR point cloud, counting high-intensity points per slot.
**Syntax**:
```
+idev | avia0 | pcloudAmbience | livoxGen1-pcloud(high-val=120) | livoxProto1(command-timeout-ms=1000,retry-delay-ms=3000,smo-ip=192.168.1.50,smo-subnet-nbits=24) | 3JEDK380010Z39
```
**Stim-Buff-API**: `livoxGen1-pcloud`
**Quale-Iface-API**: `pcloudAmbience` - Counts points with intensity >= threshold per slot
**Ambience High Value Parameter** (for pcloudAmbience quale-iface-api):
- **Parameter names**: `high-value` or `high-val` (synonyms)
- **Purpose**: Threshold value for counting high-intensity points in the ambience buffer
- **Default value**: 116
- **Usage**: Points with intensity >= `ambienceHighVal` are counted in the ambience buffer per slot
- **Configuration**: Specified in `stim-buff-api-params` when using `pcloudAmbience` quale interface
- **Example**: `high-val=120` or `high-value=120`
### 3. Point Cloud Coordinate Data Device (Extrospector)
**Purpose**: Provides spatial coordinate data from the LiDAR point cloud.
@@ -66,7 +86,7 @@ Each stim-buff-api is designed to work with specific stim-iface libraries that u
**Alternative Format Parameter Names** (synonymous):
- `format` or `fmt`
### 3. IMU Gyroscope Data Device (Interoceptor)
### 4. IMU Gyroscope Data Device (Interoceptor)
**Purpose**: Provides gyroscope data from the LiDAR's internal IMU.
@@ -78,7 +98,7 @@ Each stim-buff-api is designed to work with specific stim-iface libraries that u
**Stim-Buff-API**: `livoxGen1-gyro`
**Quale-Iface-API**: `gyro` - Processes gyroscope angular velocity data
### 4. IMU Accelerometer Data Device (Interoceptor)
### 5. IMU Accelerometer Data Device (Interoceptor)
**Purpose**: Provides accelerometer data from the LiDAR's internal IMU.
@@ -139,6 +159,7 @@ The `livoxProto1` provider accepts the following parameters:
| Stim Feature | Stim-Buff-API | Quale-Iface-API | Description |
|--------------|---------------|----------------|-------------|
| Point Cloud Intensity | `livoxGen1-pcloudIntensity` | `pcloudIntensity` | Light intensity/reflectivity data |
| Point Cloud Ambience | `livoxGen1-pcloud` | `pcloudAmbience` | High-intensity point count per slot |
| Point Cloud Coordinates | `livoxGen1-pcloud` | `pcloud` | Spatial coordinate data |
| Gyroscope | `livoxGen1-gyro` | `gyro` | Angular velocity measurements |
| Accelerometer | `livoxGen1-accel` | `accel` | Linear acceleration measurements |
@@ -151,6 +172,7 @@ Each stim-buff-api accepts device-specific parameters:
|-----------|-------------|---------|---------|
| `data-rate-hz` | Data sampling rate in Hz | - | `data-rate-hz=10` |
| `n-dgrams-per-frame` / `num-dgrams-per-frame` | Number of UDP datagrams per staging buffer frame | 84 | `n-dgrams-per-frame=84` or `num-dgrams-per-frame=84` |
| `high-value` / `high-val` | Threshold for counting high-intensity points in ambience buffer (for `pcloudAmbience` quale-iface-api) | 116 | `high-val=120` or `high-value=120` |
### Quale-Iface-API Parameters
@@ -164,6 +186,8 @@ The `pcloud` quale-iface-api accepts format parameters:
| `dual-cartesian` | Dual Cartesian coordinate system |
| `dual-spherical` | Dual spherical coordinate system |
The `pcloudAmbience` quale-iface-api uses the `high-value` / `high-val` parameter (documented in Stim-Buff-API Parameters above) to determine the intensity threshold for counting high-intensity points per slot.
## Device Discovery and Connection
The specification uses a retry-based connection strategy with two different approaches: