WIP lidar fusion

Cargo.toml

@@ -27,6 +27,7 @@ members = [
     "components/sources/cu_wt901",
     "components/sources/cu_rp_encoder",
     "components/tasks/cu_aligner",
+    "components/tasks/cu_lidar_fusion",
     "components/tasks/cu_pid",
     "components/testing/cu_udp_inject",
     "examples/cu_caterpillar",
@@ -117,5 +118,8 @@ derive_more = { version = "1", features = ["full"] }
 # used across testing
 tempfile = "3.14.0"
 
+# 0.21 is crappy out at the time of writing with some other dependencies
+rerun = "0.20.3"
+
 # [profile.release]
 # lto = true

components/tasks/cu_lidar_fusion/Cargo.toml

@@ -0,0 +1,18 @@
+[package]
+name = "cu-lidar-fusion"
+description = "Fusion Lidar - Lidar for Copper"
+version.workspace = true
+authors.workspace = true
+edition.workspace = true
+license.workspace = true
+keywords.workspace = true
+categories.workspace = true
+homepage.workspace = true
+repository.workspace = true
+
+[dependencies]
+cu29 = { workspace = true }
+cu-sensor-payloads = { path = "../../payloads/cu_sensor_payloads" }
+
+[dev-dependencies]
+rerun = { workspace = true }

components/tasks/cu_lidar_fusion/src/lib.rs

@@ -0,0 +1,199 @@
+use cu29::prelude::*;
+use cu_sensor_payloads::PointCloudSoa;
+
+pub fn fuse_lidar<const LS: usize, const RS: usize, const OS: usize>(
+    left: &PointCloudSoa<LS>,
+    right: &PointCloudSoa<RS>,
+    result: &mut PointCloudSoa<OS>,
+) -> CuResult<()> {
+    left.iter().chain(right.iter()).for_each(|l| result.push(l));
+    Ok(())
+}
+
+pub fn fuse_lidar_fast<const LS: usize, const RS: usize, const OS: usize>(
+    left: &PointCloudSoa<LS>,
+    right: &PointCloudSoa<RS>,
+    result: &mut PointCloudSoa<OS>,
+) -> CuResult<()> {
+    let left_size = left.len();
+    let right_size = right.len();
+
+    // favor reading linearity for better prefetching
+    result.tov[0..left_size].copy_from_slice(&left.tov[..left_size]);
+    result.x[0..left_size].copy_from_slice(&left.x[..left_size]);
+    result.y[0..left_size].copy_from_slice(&left.y[..left_size]);
+    result.z[0..left_size].copy_from_slice(&left.z[..left_size]);
+    result.i[0..left_size].copy_from_slice(&left.i[..left_size]);
+
+    result.tov[left_size..].copy_from_slice(&right.tov[..right_size]);
+    result.x[left_size..].copy_from_slice(&right.x[..right_size]);
+    result.y[left_size..].copy_from_slice(&right.y[..right_size]);
+    result.z[left_size..].copy_from_slice(&right.z[..right_size]);
+    result.i[left_size..].copy_from_slice(&right.i[..right_size]);
+
+    result.len = left_size + right_size;
+
+    Ok(())
+}
+
+// Both need to be sorted by tov, the result will be sorted by tov
+pub fn mergesort_lidar<const LS: usize, const RS: usize, const OS: usize>(
+    left: &PointCloudSoa<LS>,
+    right: &PointCloudSoa<RS>,
+    result: &mut PointCloudSoa<OS>,
+) {
+    let mut left_index = 0;
+    let mut right_index = 0;
+    let mut result_index = 0;
+
+    while left_index < left.len() && right_index < right.len() {
+        if left.tov[left_index] < right.tov[right_index] {
+            result.push(left.get(left_index));
+            left_index += 1;
+        } else {
+            result.push(right.get(right_index));
+            right_index += 1;
+        }
+        result_index += 1;
+    }
+
+    while left_index < left.len() {
+        result.push(left.get(left_index));
+        left_index += 1;
+        result_index += 1;
+    }
+
+    while right_index < right.len() {
+        result.push(right.get(right_index));
+        right_index += 1;
+        result_index += 1;
+    }
+}
+
+#[cfg(test)]
+mod tests {
+    use super::*;
+    use cu_sensor_payloads::PointCloud;
+    type Cube = PointCloudSoa<72>;
+    type Sphere = PointCloudSoa<561>;
+    type Result = PointCloudSoa<{ 72 + 561 }>;
+    use rerun::Position3D;
+
+    fn generate_cube() -> Cube {
+        let mut cube = Cube::default();
+        let steps = 5;
+
+        let edges = [
+            // Far face
+            [(-1.0f32, -1.0f32, -1.0f32), (1.0f32, -1.0f32, -1.0f32)], // Bottom
+            [(-1.0f32, -1.0f32, -1.0f32), (-1.0f32, 1.0f32, -1.0f32)], // Left
+            [(1.0f32, -1.0f32, -1.0f32), (1.0f32, 1.0f32, -1.0f32)],   // Right
+            [(-1.0f32, 1.0f32, -1.0f32), (1.0f32, 1.0f32, -1.0f32)],   // Top
+            // Near face
+            [(-1.0f32, -1.0f32, 1.0f32), (1.0f32, -1.0f32, 1.0f32)], // Bottom
+            [(-1.0f32, -1.0f32, 1.0f32), (-1.0f32, 1.0f32, 1.0f32)], // Left
+            [(1.0f32, -1.0f32, 1.0f32), (1.0f32, 1.0f32, 1.0f32)],   // Right
+            [(-1.0f32, 1.0f32, 1.0f32), (1.0f32, 1.0f32, 1.0f32)],   // Top
+            // Connecting edges
+            [(-1.0f32, -1.0f32, -1.0f32), (-1.0f32, -1.0f32, 1.0f32)],
+            [(1.0f32, -1.0f32, -1.0f32), (1.0f32, -1.0f32, 1.0f32)],
+            [(-1.0f32, 1.0f32, -1.0f32), (-1.0f32, 1.0f32, 1.0f32)],
+            [(1.0f32, 1.0f32, -1.0f32), (1.0f32, 1.0f32, 1.0f32)],
+        ];
+
+        let mut ts: CuTime = (72 * 2).into();
+
+        for &[(x1, y1, z1), (x2, y2, z2)] in &edges {
+            for step in 0..=steps {
+                let t = step as f32 / steps as f32;
+                let x = x1 + t * (x2 - x1);
+                let y = y1 + t * (y2 - y1);
+                let z = z1 + t * (z2 - z1);
+                ts -= 2u64.into(); // put it in reverse in time to test the ordering
+                cube.push(PointCloud::new(ts, x, y, z, 1.0f32, None));
+            }
+        }
+
+        cube
+    }
+
+    fn generate_sphere() -> Sphere {
+        let mut sphere = Sphere::default();
+        let num_latitudes = 10;
+        let num_longitudes = 50;
+        let mut ts: CuTime = 0.into();
+
+        for lat_step in 0..=num_latitudes {
+            let theta = std::f32::consts::PI * (lat_step as f32 / num_latitudes as f32); // Latitude angle
+            let sin_theta = theta.sin();
+            let cos_theta = theta.cos();
+
+            for lon_step in 0..=num_longitudes {
+                let phi = 2.0 * std::f32::consts::PI * (lon_step as f32 / num_longitudes as f32); // Longitude angle
+                let sin_phi = phi.sin();
+                let cos_phi = phi.cos();
+
+                let x = sin_theta * cos_phi;
+                let y = sin_theta * sin_phi;
+                let z = cos_theta;
+                ts += 1u64.into();
+                sphere.push(PointCloud::new(ts, x, y, z, 1.0f32, None));
+            }
+        }
+
+        sphere
+    }
+
+    #[test]
+    fn test_simple_fusion() {
+        let l = generate_cube();
+        let r = generate_sphere();
+        let mut res = Result::default();
+        let rec = rerun::RecordingStreamBuilder::new("Ply Visualizer")
+            .spawn()
+            .map_err(|e| CuError::new_with_cause("Failed to spawn rerun stream", e))
+            .unwrap();
+        fuse_lidar(&l, &r, &mut res).unwrap();
+
+        // push res to rerun
+        let points: Vec<Position3D> = res
+            .iter()
+            .map(|p| Position3D::new(p.x.0.value, p.y.0.value, p.z.0.value))
+            .collect();
+
+        rec.log("points", &rerun::Points3D::new(points)).unwrap();
+
+        assert_eq!(res.len(), l.len() + r.len());
+    }
+
+    #[test]
+    fn test_ordering() {
+        let mut l = generate_cube();
+        l.sort();
+        // assert that all tov are in order
+        for i in 1..l.len() {
+            assert!(l.tov[i] > l.tov[i - 1]);
+        }
+
+        let mut s = generate_sphere();
+        s.sort();
+        // assert that all tov are in order
+        for i in 1..s.len() {
+            assert!(s.tov[i] > s.tov[i - 1]);
+        }
+    }
+    #[test]
+    fn test_mergesort() {
+        let mut l = generate_cube();
+        l.sort();
+        let mut s = generate_sphere();
+        s.sort();
+
+        let mut res = Result::default();
+        mergesort_lidar(&l, &s, &mut res);
+        // asset that all tov are in order
+        for i in 1..res.len() {
+            assert!(res.tov[i] > res.tov[i - 1]);
+        }
+    }
+}

examples/cu_pointclouds/Cargo.toml

@@ -13,7 +13,7 @@ repository.workspace = true
 [dependencies]
 cu29 = { workspace = true }
 cu29-helpers = { workspace = true }
+rerun = { workspace = true }
 tempfile = "3.14.0"
 cu-hesai = { path = "../../components/sources/cu_hesai", version = "0.5.1" }
 cu-udp-inject = { path = "../../components/testing/cu_udp_inject" }
-rerun = "0.20.3"