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livoxGen1:OpenCL kernels: add debug printfs

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This commit is contained in:
Hayodea Hekol
2025-11-12 12:30:41 -04:00
parent f58f908366
commit b55e7a8b19
2 changed files with 98 additions and 2 deletions
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stimBuffApis/livoxGen1/collateDgrams.cl
+61
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@@ -1,3 +1,11 @@
// Debug macro: define DEBUG_COLLATE_DGRAMS to enable printf statements
#define DEBUG_COLLATE_DGRAMS
#ifdef DEBUG_COLLATE_DGRAMS
#define DBG_PRINTF(...) printf(__VA_ARGS__)
#else
#define DBG_PRINTF(...)
#endif
// Helper function to read a little-endian int32 from unaligned memory
inline int readInt32LE(__global uchar* ptr)
{
@@ -57,12 +65,21 @@ __kernel void collate(
int z_mm = readInt32LE(pointPtr + 8);
uchar reflectivity = pointPtr[12];
DBG_PRINTF("collate[slot=%u,point=%u]: x_mm=%d, y_mm=%d, z_mm=%d, reflectivity=%d\n",
slotIndex, i, x_mm, y_mm, z_mm, reflectivity);
// Convert to PointXYZI (meters, float)
float x = (float)x_mm / 1000.0f;
float y = (float)y_mm / 1000.0f;
float z = (float)z_mm / 1000.0f;
float intensity = (float)reflectivity;
// Print intensity if above 5
if (intensity > 5.0f)
{
DBG_PRINTF("collate[slot=%u,point=%u]: intensity=%.1f\n",
slotIndex, i, intensity);
}
// Write to collation buffer
uint offset = collationBaseOffset + (i * FLOATS_PER_POINT);
collation[offset + 0] = x;
@@ -86,12 +103,21 @@ __kernel void collate(
uchar reflectivity = pointPtr[12];
// tag at offset 13 is ignored
DBG_PRINTF("collate[slot=%u,point=%u]: x_mm=%d, y_mm=%d, z_mm=%d, reflectivity=%d\n",
slotIndex, i, x_mm, y_mm, z_mm, reflectivity);
// Convert to PointXYZI (meters, float)
float x = (float)x_mm / 1000.0f;
float y = (float)y_mm / 1000.0f;
float z = (float)z_mm / 1000.0f;
float intensity = (float)reflectivity;
// Print intensity if above 5
if (intensity > 5.0f)
{
DBG_PRINTF("collate[slot=%u,point=%u]: intensity=%.1f\n",
slotIndex, i, intensity);
}
// Write to collation buffer
uint offset = collationBaseOffset + (i * FLOATS_PER_POINT);
collation[offset + 0] = x;
@@ -124,6 +150,13 @@ __kernel void collate(
float z1 = (float)z1_mm / 1000.0f;
float intensity1 = (float)reflectivity1;
// Print intensity if above 5
if (intensity1 > 5.0f)
{
DBG_PRINTF("collate[slot=%u,point=%u]: intensity=%.1f\n",
slotIndex, pointIndex, intensity1);
}
uint offset1 = collationBaseOffset
+ (pointIndex * FLOATS_PER_POINT);
collation[offset1 + 0] = x1;
@@ -144,6 +177,13 @@ __kernel void collate(
float z2 = (float)z2_mm / 1000.0f;
float intensity2 = (float)reflectivity2;
// Print intensity if above 5
if (intensity2 > 5.0f)
{
DBG_PRINTF("collate[slot=%u,point=%u]: intensity=%.1f\n",
slotIndex, pointIndex, intensity2);
}
uint offset2 = collationBaseOffset
+ (pointIndex * FLOATS_PER_POINT);
collation[offset2 + 0] = x2;
@@ -177,6 +217,13 @@ __kernel void collate(
float z1 = (float)z1_mm / 1000.0f;
float intensity1 = (float)reflectivity1;
// Print intensity if above 5
if (intensity1 > 5.0f)
{
DBG_PRINTF("collate[slot=%u,point=%u]: intensity=%.1f\n",
slotIndex, pointIndex, intensity1);
}
uint offset1 = collationBaseOffset
+ (pointIndex * FLOATS_PER_POINT);
collation[offset1 + 0] = x1;
@@ -197,6 +244,13 @@ __kernel void collate(
float z2 = (float)z2_mm / 1000.0f;
float intensity2 = (float)reflectivity2;
// Print intensity if above 5
if (intensity2 > 5.0f)
{
DBG_PRINTF("collate[slot=%u,point=%u]: intensity=%.1f\n",
slotIndex, pointIndex, intensity2);
}
uint offset2 = collationBaseOffset
+ (pointIndex * FLOATS_PER_POINT);
collation[offset2 + 0] = x2;
@@ -217,6 +271,13 @@ __kernel void collate(
float z3 = (float)z3_mm / 1000.0f;
float intensity3 = (float)reflectivity3;
// Print intensity if above 5
if (intensity3 > 5.0f)
{
DBG_PRINTF("collate[slot=%u,point=%u]: intensity=%.1f\n",
slotIndex, pointIndex, intensity3);
}
uint offset3 = collationBaseOffset
+ (pointIndex * FLOATS_PER_POINT);
collation[offset3 + 0] = x3;