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
57
■
Start Time of Each Block
Assuming that the absolute time of a Point Cloud Data Packet is t0, the start time of each block (the time when the first firing starts) can be
calculated.
Single Return Mode
Block
Start Time (μs)
Block 8
t0 + 3.28
Block N
t0 + 3.28 - 50 * (8 - N)
Block 3
t0 + 3.28 - 50 * 5
Block 2
t0 + 3.28 - 50 * 6
Block 1
t0 + 3.28 - 50 * 7
Dual Return Mode
Block
Start Time (μs)
Block 8 & Block 7
t0 + 3.28
Block 6 & Block 5
t0 + 3.28 - 50 * 1
Block 4 & Block 3
t0 + 3.28 - 50 * 2
Block 2 & Block 1
t0 + 3.28 - 50 * 3
■ Laser Firing Time of Each Channel
In each round of firing, the firing sequence is from Channel 1 to Channel 32.
Assuming that the start time of Block 6 is t6, the laser firing time of Channel i is
t6 + (1.512 * i + 0.28), i∈{1, 2, ..., 32}.