User's Manual
Table Of Contents
- 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 Phoenix Contact
- Appendix V Nonlinear Reflectivity Mapping
- Appendix VI Certification Info
- Appendix VII Support and Contact
14
3.1 Point Cloud Data Packet
3.1.1 Ethernet Header
Each LiDAR has a unique MAC address.
The source IP is 192.168.1.201 by default. The destination IP address is 0xFF FF FF FF and in broadcast form.
Table 3.1 Point Cloud Data Packet – Ethernet Header
Ethernet Header: 42 bytes
Ethernet II MAC
12 bytes
Destination: broadcast (0xFF: 0xFF: 0xFF: 0xFF: 0xFF: 0xFF)
Source: (xx:xx:xx:xx:xx:xx)
Ethernet Data Packet Type
2 bytes
0x08, 0x00
Internet Protocol
20 bytes
Shown in the figure below
UDP Port Number
4 bytes
UDP source port (0x2710, representing 10000)
Destination port (0x0940, representing 2368)
UDP Length
2 bytes
0x04F6 when UDP sequence is OFF, representing 1270 bytes (8 bytes more than the size of the Point Cloud
UDP Data, shown in Figure 3.1)
0x04FA when UDP sequence is ON, representing 1274 bytes
UDP Checksum
2 bytes
-
Figure 3.2 Point Cloud Ethernet Header – Internet Protocol