OMEN-1F-202012

User Manual LR-1F
OMEN-1F-202012
6
As is shown in the figure above, LR-1F measures distance by using the time-of-flight
principle. The LiDAR emits pulsed laser beams using a laser diode. If one of these laser pulses
hits an object or a person, this is reflected at its surface. The reflection is detected in the LiDAR's
receiver by a photodiode. The LiDAR calculates the distance to the object from the transit time
required by the light from emission of the beam to receipt of the reflection. The calculation
method is as follows:
𝐷 =
𝐶𝑇
2
D—Detection distance
T—Flight time
C—Speed of light
6 Data packet format
LR-1F can realize laser point cloud data transmission. Please refer to the following for the
analysis of LiDAR point cloud data.
The information transmission between LR-1F and the computer follows UDP standard
network protocol. The data adopts the Little-endian format,the low byte is in the front,and the
high byte is in the back.
6.1 Overview
Total length of data packet is 1240 bytes, among which header accounts for 40 bytes, data
returned by laser is 1200 bytes.
Figure 11 Format of point cloud information packet
The total length of the data frame is 1240 bytes, among which:
 Frame header: 40 bytes.
 Data block: 150×8=1200 bytes.
6.2 Definition of Header
Total length of data packet is 1240 bytes, among which header accounts for 40 bytes, data
returned by laser is 1200 bytes.
Offset
Length
Description
0
4
Identifier, fixed as 0xFEF0010F
4
2
Protocol version, currently 0x0200
6
1
Distance ratio, actual distance value = distance reading × distance ratio (mm)
7
3
Brand code, indicate with capitalized letters and numbers, fill in with ‘\0’ in the
end if isn’t long enough.
10
12
Sales model string ending with ’\0’