User's Manual

When UDP sequence is ON, Point Cloud UDP Packet size changes from 1270 bytes to 1274 bytes, with additional information changes from

22 bytes to 26 bytes.

Figure V.1 Data Structure with UDP Sequence On

Appendix V

Data Structure with UDP Sequence On

LiDAR Data

Point Cloud Data Packet

Ethernet Header: 42 bytes

UDP Data: 1274 bytes

GPS Data Packet

Ethernet Header: 42 bytes

UDP Data: 512 bytes

Header: 8 bytes

Tail: 26 bytes

Body: 1240 bytes

Here is the deﬁnition of point cloud data packet ethernet header, in which the UDP length 2 bytes changes to 0x0502 representing 1282

bytes.

Ethernet Header: 42 bytes

Table V.1 Point Cloud Data Packet Ethernet Header Deﬁnition

Ethernet II MAC

Ethernet Data Packet Type

Internet Protocol

UDP Port Number

UDP Length and Checksum

12 bytes

2 bytes

20 bytes

4 bytes

Destination: Broadcast (0xFF: 0xFF: 0xFF: 0xFF: 0xFF: 0xFF), Source: (xx:xx:xx:xx:xx:xx)

0x08, 0x00

Version, Header Length, Diﬀerentiated Services, Field, Total Length, Identiﬁcation, Flags, Fragment Oﬀset,

Time to Live, Protocol, Header Checksum, Source IP Address, Destination IP Address

UDP source port (0x2710, represents 10000), destination port (0x0940, represents 2368)

Length 2 bytes (0x0502, represents 1282 bytes), checksum 2 bytes

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