User's Manual

01)
02)
03)
End time of Block6: (t0-42.58) μs;
End time of BlockN: (t0-42.58-55.56*(6-N)) μs;
End time of Block3: (t0-42.58-55.56*3) μs;
04)
05)
End time of Block2: (t0-42.58-55.56*4) μs;
End time of Block1: (t0-42.58-55.56*5) μs.
There are 6 Blocks in every Point Cloud UDP Data Packet.
In the single return mode, each block consists 64 laser channels ranging data. The end time of the Block means all the 64 channels laser
finished the firing.
The calculation of each Block's end time is as follows:
Single Return Mode
Body: 1164 bytes (6 blocks)
Table II.1 Point Could Data UDP Data-Body
Block 1 Block 2 Block 3 Block 6
Azimuth Azimuth Azimuth Azimuth
Unit 1 Unit 1 Unit 1 Unit 1
Unit 2 Unit 2 Unit 2 Unit 2
Unit 64 Unit 64 Unit 64 Unit 64
······ ······ ······ ······
······
······
······
······
······
······
The laser firing time of every laser channel can be calculated by using the absolute time in Point Cloud Data Packet.
Assuming the Point Cloud Data Packet's absolute time is t0.
2 Laser Firing Time Calculation
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