User's Manual
Table Of Contents
- Contents
- Safety Notice
- 1 Introduction
- 2 Setup
- 3 Data Structure
- 4 Web Control
- 5 PandarView
- 6 Communication Protocol
- 7 Sensor Maintenance
- 8 Troubleshooting
- Appendix I Channel Distribution
- Appendix II Absolute Time and Laser Firing Time
- Appendix III PTP Protocol
- Appendix IV Certification Info
- Appendix V Support and Contact
17
3 Data Structure
100 Mbps Ethernet UDP/IP is used for data output. The output data includes Point Cloud Data Packets and GPS Data Packets. Each data packet
consists of an Ethernet header and UDP data.
Figure 3.1 Data Structure with UDP Sequence OFF
LiDAR Data
Point Cloud Data Packet: 1122 bytes
Ethernet Header: 42 bytes
UDP Data: 1080 bytes
GPS Data Packet: 554 bytes
Ethernet Header: 42 bytes
UDP Data: 512 bytes
Pre-Header: 6 bytes
Header: 6 bytes
Tail: 24 bytes
Additional Info: 4 bytes
Body: 1040 bytes