hayodea
156da322b6
The OFM algo runs in fractions of a millisecond. GP3 runs in fractions of a second. I think if we can get more input data to the OFM or something akin to it, we will have a winner.
59 lines
1.7 KiB
C++
59 lines
1.7 KiB
C++
#ifndef _LIVOX_GEN1_PCLOUD_FRAME_DUMPER_H
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#define _LIVOX_GEN1_PCLOUD_FRAME_DUMPER_H
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#include <filesystem>
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#include <memory>
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#include <string>
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#include <livoxProto1/device.h>
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#include <spinscale/asynchronousLoop.h>
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#include <user/deviceAttachmentSpec.h>
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#include <user/stagingBuffer.h>
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namespace smo {
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namespace stim_buff {
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class LivoxPcloudFrameDumper
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{
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public:
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explicit LivoxPcloudFrameDumper(
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const std::shared_ptr<device::DeviceAttachmentSpec>& deviceAttachmentSpec);
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~LivoxPcloudFrameDumper() = default;
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LivoxPcloudFrameDumper(const LivoxPcloudFrameDumper&) = delete;
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LivoxPcloudFrameDumper& operator=(const LivoxPcloudFrameDumper&) = delete;
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LivoxPcloudFrameDumper(LivoxPcloudFrameDumper&&) = delete;
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LivoxPcloudFrameDumper& operator=(LivoxPcloudFrameDumper&&) = delete;
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bool isEnabled() const { return enabled; }
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void prepareForRun() const;
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void dumpProducedFrame(
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const livoxProto1::Device& device,
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const StagingBuffer& collationBuffer,
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const sscl::AsynchronousLoop& frameAssemblyResult) const;
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private:
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static std::string parseDumpDirParam(
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const std::vector<std::pair<std::string, std::string>>& params);
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static std::filesystem::path resolveDumpDirectory(
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const std::string& dumpDirParam);
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static std::string makeTimestampStem(const std::string& deviceSelector);
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static std::filesystem::path makeUniqueFramePath(
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const std::filesystem::path& dumpDir,
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const std::string& deviceSelector);
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static void writeBinaryPcdFile(
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const std::filesystem::path& outputPath,
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const StagingBuffer& collationBuffer,
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std::size_t nSucceeded,
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std::size_t pointsPerDgram);
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private:
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bool enabled;
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std::string deviceSelector;
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std::filesystem::path dumpDirectory;
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};
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} // namespace stim_buff
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} // namespace smo
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#endif // _LIVOX_GEN1_PCLOUD_FRAME_DUMPER_H
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