Using the Code FAQ

Some questions that have been asked and answered about the SDK include the following:

Q1: Why does the code initialize last_azimuth to 65000?

A1: The last_azimuth is set to an arbitrary number, which for historic reasons happens to be 65000. Once the sensor starts, it will have a new, significant value.

Q2: In your code, packet_counter is never initialized, only incremented. Is that okay?

A2: Actually, the packet_counter is initialized in PointCloudGeneratorM8() with 0.

Q3: Is it possible for the M8 sensor to spin in two directions? We saw an if(spin) in the m8client code and weren't sure why that was there.

A3: No, our M8 sensor rotates in only one direction. We are working on this feature, but right now we cannot change the spin direction.

Q4: What is bool spin for? Can the sensor scan while not spinning?

A4: The bool spin was there because we could not control the spin direction in an early version. Please use the newest version of the SDK.

Q5: How is the intensity measurement from LiDAR represented?

A5: LiDAR intensity is a unit less measure of the return strength of the laser. It is related to target reflectivity, among other things.

Q6: Can we adjust the code to get ALL returns, or to get only one return?

A6: It may be more convenient to adjust the number of returns through the GUI discussed in the M8 Sensor User Guide, “Managing the Sensor > Edit Settings > Return Data Select” section, https://quanergy.desk.com/customer/portal/articles/2687038. However, the launch file that comes with the SDK includes a return argument, so you could just amend it to return:=all or substitute the preferred value 1, 2, or 3. These return values are defined in the M8 Sensor User Guide, “Multiple Returns” section.