User's Manual

When UDP sequence is ON, Point Cloud UDP Packet size changes from 1194 bytes to 1198 bytes, with Tail 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: 1198 bytes
Header: 8 bytes
Tail: 26 bytes
Body: 1164 bytes
GPS Data Packet
Ethernet Header: 42 bytes
UDP Data: 512 bytes
Here is the definition of point cloud data packet ethernet header, in which the UDP length 2 bytes changes to 0x4b6 representing 1206
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
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 (0x04b6, represents 1206 bytes), checksum 2 bytes
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