Interferences between multiple sensors about livox-sdk HOT 2 CLOSED

If you set different handle to the same DataCallback cb when use SetDataCallback interface:
void SetDataCallback(uint8_t handle, DataCallback cb, void *client_data);
eg:

void GetLidarData(uint8_t handle, LivoxEthPacket *data, uint32_t data_num, void *client_data) { 
 //.....
}
SetDataCallback(handle1, GetLidarData, NULL);
SetDataCallback(handle2, GetLidarData, NULL);`

In this case, DataCallback cb will be called in different lidar thread. if you didn't lock point_cloud_buffer, multiple sensors' output may mix together, eg:

void GetLidarData(uint8_t handle, LivoxEthPacket *data, uint32_t data_num, void *client_data) {
  if (data) {
    std::unique_lock<std::mutex> lock(mtx);
    // ...
    // point_cloud_buffer = process(data);
    // ...
  }
}

from livox-sdk.

if it doesn't work, could you please describe usage scenario and operating steps in detail and send an e-mail to us [email protected], thanks!

from livox-sdk.