hayodea
0116523a66
We directly use an instance of RangeDescriptor to avoid incurring the memory cost of using a StagingBuffer here. It's unnecessary since these stencils will always be 32bits large.
107 lines
3.6 KiB
C++
107 lines
3.6 KiB
C++
#ifndef _LIVOX_GEN1_PCLOUD_AMBIENCE_STIMULUS_BUFFER_H
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#define _LIVOX_GEN1_PCLOUD_AMBIENCE_STIMULUS_BUFFER_H
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#include <memory>
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#include <cstdint>
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#include <list>
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#include <cstddef>
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#include <vector>
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#include <string>
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#include <user/stimulusBuffer.h>
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#include <user/stagingBuffer.h>
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#include <user/deviceAttachmentSpec.h>
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#include "lg1PcloudAmbienceStencil.h"
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namespace smo {
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namespace stim_buff {
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// Forward declaration
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class StimulusProducer;
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/**
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* PcloudAmbienceStimulusBuffer is a specialized StimulusBuffer for ambience point cloud data.
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*/
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class PcloudAmbienceStimulusBuffer
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: public StimulusBuffer
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{
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public:
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explicit PcloudAmbienceStimulusBuffer(
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StimulusProducer& parent,
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const std::shared_ptr<device::DeviceAttachmentSpec>& deviceAttachmentSpec,
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int histbuffMs,
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const StagingBuffer::IOEngineConstraints& inputEngineConstraints,
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const StagingBuffer::IOEngineConstraints& outputEngineConstraints,
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const SmoCallbacks& callbacks,
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cl_mem_flags flags,
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size_t nStencils_, size_t nDgramsPerFrame_)
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: StimulusBuffer(
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parent, deviceAttachmentSpec, histbuffMs,
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inputEngineConstraints, outputEngineConstraints,
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callbacks, flags),
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nStencils(nStencils_)
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{
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// Parse postrinInterestThreshold from qualeIfaceApiParams
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const std::vector<std::string> postrinInterestThresholdParamNames = {
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"postrin-interest-threshold",
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"postrin-interest"
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};
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/** EXPLANATION:
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* The default postrin threshold is determined as follows:
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* We want 90% of the scanned points to have intensity under the
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* lowVal to consider the ambience criterion met.
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*
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* If nDgramsPerFrame_ (the number of datagrams per frame) is less
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* than 10, we require that all frames (100%) be under the lowVal.
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* This is because, for such small sample sizes, calculating 90%
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* does not yield a meaningful integer; for example, 90% of 7 is
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* 6.3, but we must count whole frames that meet the threshold. By
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* using nDgramsPerFrame_ as the threshold in this case, we ensure
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* logical, all-or-nothing evaluation at low sample counts while
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* maintaining an approximate 90% requirement for larger frame
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* sizes.
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*/
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uint32_t defaultPostrinThreshold = (nDgramsPerFrame_ < 10)
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? static_cast<uint32_t>(nDgramsPerFrame_)
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: static_cast<uint32_t>(nDgramsPerFrame_ * 9 / 10);
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postrinInterestThreshold = static_cast<uint32_t>(
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device::DeviceAttachmentSpec::parseOptionalParamAsIntWithSynonyms(
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deviceAttachmentSpec->qualeIfaceApiParams,
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postrinInterestThresholdParamNames,
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defaultPostrinThreshold));
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// Parse ambienceIntensityLowVal from qualeIfaceApiParams
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const std::vector<std::string> ambienceIntensityLowValParamNames = {
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"ambience-intensity-low-val"
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};
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ambienceIntensityLowVal = static_cast<uint32_t>(
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device::DeviceAttachmentSpec::parseOptionalParamAsIntWithSynonyms(
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deviceAttachmentSpec->qualeIfaceApiParams,
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ambienceIntensityLowValParamNames, 8));
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// Construct stencils and add to list (FIFO behavior)
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for (size_t i = 0; i < nStencils; ++i) {
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stencils.emplace_back();
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}
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}
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~PcloudAmbienceStimulusBuffer() = default;
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// Non-copyable, movable
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PcloudAmbienceStimulusBuffer(const PcloudAmbienceStimulusBuffer&) = delete;
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PcloudAmbienceStimulusBuffer& operator=(const PcloudAmbienceStimulusBuffer&) = delete;
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PcloudAmbienceStimulusBuffer(PcloudAmbienceStimulusBuffer&&) = default;
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PcloudAmbienceStimulusBuffer& operator=(PcloudAmbienceStimulusBuffer&&) = default;
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public:
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uint32_t postrinInterestThreshold;
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uint32_t ambienceIntensityLowVal;
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size_t nStencils;
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std::list<LG1PcloudAmbienceStencil> stencils;
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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_AMBIENCE_STIMULUS_BUFFER_H
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