feat(lidar): add point-aligned ground review

2026-07-25 09:44:38 +03:00
parent 75a3e669d9
commit 2dfb34ef21
15 changed files with 1548 additions and 140 deletions
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+# K1 firmware 3.0.2 LiDAR pipeline — redacted static analysis
+
+Date: 2026-07-25
+Scope: owner-controlled LixelKity K1 firmware 3.0.2 full archive
+Method: offline configuration, ELF symbol and string inspection only
+Device writes, firmware upload, runtime process changes and network probes: none
+
+## Evidence boundary
+
+The retained firmware package contains deployable ARM64 binaries, libraries and
+configuration files, not the original C++ source tree. Non-stripped symbols,
+embedded build paths and protobuf descriptors still provide stronger pipeline
+evidence than the external MQTT contract alone. The private firmware archive
+and extracted filesystem remain outside Git; this note contains only sanitized
+derived facts and content hashes.
+
+## Proven static facts
+
+1. K1 selects `livox_mid360` as its LiDAR driver.
+2. The driver configuration exposes separate point and IMU inputs. The K1 LIO
+   configuration consumes `/livox/lidar` and `/imu`.
+3. The internal converter uses a `PointIRT` representation containing XYZ,
+   intensity, per-point timestamp and ring fields. The MID-360 library exposes
+   raw packet processing, `PointXyzlt`, `PointFrame` and IMU callbacks.
+4. The K1 LIO preprocess contract admits `0.3–200 m`, a `0.1 s` sweep and
+   `use_single_pcl: false`.
+5. The external MID-360 MQTT point-cloud branch declares
+   `mqtt_pcl_samples: 4`; it is deliberately downsampled before transport.
+6. The modeling application receives raw `PointCloudMsg`, feeds `SlamCore`,
+   and later sends point clouds from `LioResultMsg`. This supports classifying
+   external `lio_pcl` as an LIO product rather than the original MID-360 scan.
+7. The firmware contains a K1 calibration candidate
+   `lidar_imu_trans: [0.01176, -0.01865, 0.075]` with zero initial rotation.
+   Static presence does not prove that this exact file was active in the
+   recorded session, and it is not the sensor-to-ground installation height.
+
+## Consequences for Mission Core
+
+- Metric range is present in the scanner and internal point path.
+- The current MQTT `lio_pcl` evidence is useful for visualization, derived
+  ground proposals and detector experiments, but must not be relabeled as raw.
+- A future raw-scan gate should capture the existing internal point and IMU
+  products through an admitted onboard exporter or recorded bag boundary. It
+  does not require replacing the physical scanner.
+- The operator-estimated `1.27 m` height belongs only to the handheld recording
+  and remains diagnostic until a runtime calibration binds the optical origin,
+  axes and installation.
+- Patchwork++ comparison must remain diagnostic on MQTT evidence even after
+  applying the height estimate.
+
+## Evidence hashes
+
+| Evidence role | SHA-256 |
+| --- | --- |
+| LiDAR configuration | `cafca05b230dececfde45917f21eaad973491de4cbc2a9668b2fc01a6f79d0b2` |
+| K1 LIO configuration | `2b8f06bf95e429862a5559b1aefb39591e5a97cd41dbda89016faf8d05ab7471` |
+| K1 calibration configuration | `52db698b80d870b018461501a8582a84dee1aa0f269a9d96cdf96c4169dca95c` |
+| MID-360 driver library | `0a9266a337c8112f84728c9c7ae6a4a282e0c92e8ffefc1d43f2d2d54ef55c25` |
+| K1 LiDAR adapter library | `e1b8756474098d3a51e08e0690abc5397ea3e7422c16f0ef7f22d81509a96d85` |
+| ROS/internal message converter | `225d83fb2468f686a0382324aba595982e34d1dd1e5dc8d0959e1c15d3678c67` |
+| Modeling application | `780c9194a749b84b2f8e4c0ea7b297be24f5d8b5946f0315c6c9b74861425ec0` |