Return Data Select; Ring Settings - quanergy M8 User Manual

Return Data Select

The Return Data Select parameter applies to M8 Rev D5 and up, as well as to M8 Rev D4 with
patch updating Base firmware to 7.03. If you have bandwidth constraints and don't need
all three of the returns, the Return Data Select dropdown menu allows you to specify which of
the returns to report. Refer to the discussion and definition of these returns on page 20.
The options are: Return 0, Return 1, Return 2, and All 3 (default), as shown in Figure 29 (top).
1. Select the preferred value from the menu.
2. Click the Submit button, or continue making changes in the next section.
Depending on your selection, the TCP Ethernet data packet changes as discussed in the
"Getting TCP Ethernet Packets" section starting on page 33.

Ring Settings

The Ring Settings parameters apply to sensors of Rev C and up. The Ring Range X in cm and the
Ring Intensity X fields are a pair of settings that work together to filter out the points that are:
• Up to a specified Range (radial distance in cm) from the sensor's Origin, which is the
sensor's internal intersection of X, Y, and Z axes (0,0,0).
• Up to a specified Intensity value, that is, reflectivity (0-255) of an object, which is
visualized as a color.
• Originally emitted by X, which represents one of the eight stacked laser beams in
the M8 sensor. In particular, 0 is for the bottom downward-looking beam,
numbering up through 7 for the top upward-looking beam.
If you ever see artifact points showing up as a ring in the point cloud, you may refer to
Figure 29 (top, right) and adjust the filter for one or more laser beams (0-7), as follows:
1. Select the Ring Settings button text to expand that section of the M8 Settings Edit page.
2. In the Ring Range X in cm field, type a number for the distance from the Origin up to
which the points may be filtered out.
3. In the Ring Intensity X field, type a number (0-255) representing the reflectivity and
visualized color of an object to filter out. 0 filters out no points/colors; 255 filters out
all points/colors. The optimal setting is therefore a very low number. For example,
with a setting of 4, all points of Ring Intensity X up to 4, within the set Ring Range X
distance, are filtered out.
4. Select the Ring Settings button text to collapse that section of the M8 Settings Edit page.
5. Click the Submit button, or continue making changes in the next section.
M8 Sensor User Guide, QPN 96-00001 Rev K Page 48