hayodea/salmanoff
1
0
Fork 0
Code Issues Pull Requests Packages Projects Releases 2 Wiki Activity

DAP: Add intrin DAPSpecs

Browse Source 
We now specify intrins as separate DAPS lines. This syntax is much
nicer and well-grouped than the previous negtrin-*/postrin-* param
names.

Alas, we're about to replace it in the next few commits already though.
This commit is contained in:
Hayodea Hekol
2026-04-12 04:06:47 -04:00
parent c696316a1e
commit fc1fcae0b0
14 changed files with 595 additions and 284 deletions
Download Patch File Download Diff File Expand all files Collapse all files
docs/livox-gen1-lidar-dap-spec.md
+6 -14
View File
@@ -41,21 +41,11 @@ Each stim-buff-api is designed to work with specific stim-iface libraries that u
```
**Stim-Buff-API**: `livoxGen1-pcloud`
**Quale-Iface-API**: `pcloudAmbience` - Delivers per-dagram average intensity floats; postrin/negtrin binding and passband-style aggregation are being revised (see intrinsic parameters below).
**Quale-Iface-API**: `pcloudAmbience` - Delivers per-dagram average intensity floats (sensory stream only).
**Intrinsic Stimuli Support** (for pcloudAmbience quale-iface-api):
The `pcloudAmbience` quale-iface-api is intended to export both a postrin and a negtrin whose
thresholds are configurable via standard quale-iface-api-params:
- **Postrin interest threshold**: Configurable via `postrin-interest-[percentage|pc|threshold|thresh|thr]`
- **Negtrin interest threshold**: Configurable via `negtrin-interest-[percentage|pc|threshold|thresh|thr]`
The `-percentage` and `-pc` variants take percentages in the range
`0-100`. The `-threshold`, `-thresh`, and `-thr` variants take an
absolute number whose interpretation is defined by the API library
itself. Users should specify only one unit-suffixed variant per targeted
intrinsic threshold; if multiple such variants are supplied, the
lattermost one takes precedence. Shorthand forms without a unit suffix
are not valid.
Intrinsic thresholds, passband comparators, and `from-stimbuff` wiring are **not** configured on
`pcloudAmbience`. Use separate DAP lines with qualeIfaceApi **`negtrin(...)`** or **`postrin(...)`**
and `from-stimbuff=pcloudAmbience`; see `docs/design/intrin-thresholds.md` and the `PcloudAmbienceIntrinStimulusBuffer` path in the LivoxGen1 stim buff API.
### 3. Point Cloud Coordinate Data Device (Extrospector)
@@ -166,6 +156,8 @@ The `livoxProto1` provider accepts the following parameters:
|--------------|---------------|----------------|-------------|
| Point Cloud Intensity | `livoxGen1-pcloudIntensity` | `pcloudIntensity` | Light intensity/reflectivity data |
| Point Cloud Ambience | `livoxGen1-pcloud` | `pcloudAmbience` | Per-dagram average intensity vector (`float` × `n-dgrams-per-frame`) |
| Ambience-driven intrinsic (negtrin) | `livoxGen1-pcloud` | `negtrin` | Dedicated intrin pipeline; requires `from-stimbuff=pcloudAmbience` and intrin params per `docs/design/intrin-thresholds.md` |
| Ambience-driven intrinsic (postrin) | `livoxGen1-pcloud` | `postrin` | Same as negtrin row, for positive intrinsics |
| Point Cloud Coordinates | `livoxGen1-pcloud` | `pcloud` | Spatial coordinate data |
| Gyroscope | `livoxGen1-gyro` | `gyro` | Angular velocity measurements |
| Accelerometer | `livoxGen1-accel` | `accel` | Linear acceleration measurements |