The Copper side for the Hesai driver#101
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luc-k1
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Nov 15, 2024
luc-k1
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Main concern would be for LidarPayloadSoa and handling of other lidar providing more information (multiple return 2+, or dual channel)
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| fn spherical_to_cartesian( |
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Could you specify angle convention used for spherical coordinates
| .block_ts(&self.reftime) | ||
| .map_err(|e| CuError::new_with_cause("Failed to get block timings", e))?[5]; // 0 == channel 1, 5 == channel 6 | ||
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| let is_dual = lidar_packet.header.is_dual_return(); |
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Are we doing something this this information ?
How would we handle multiple returns in LidarCuMsgPayload ?
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ok let's drop that for that PR and we will add another one with a proper return order in the format and the drivers. thanks
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