3.1.2 Point Cloud Data Packet-UDP Data
The UDP Data of Pandar20A/B includes the areas of Header, Body and Tail. All the multi-byte values are the unsigned type and in Little
Endian format.
Header: 8 bytes
Table 3.2 UDP Data-Header De
fi
nition
0xee 0xff
Laser N
Block N
RT Start
Dis Unit
2 bytes
1 byte
1 byte
1 byte
1 byte
SOP (start of packet)
0x14 (20 lines)
0x14 (20 blocks per packet)
Return type start, the
fi
rst block’s return number; (when dual return)
0-single return
1-the
fi
rst block is the last return when dual return type is selected
2-the
fi
rst block is the strongest return when dual return type is selected
4 mm
Reserved
1 byte
-
Reserved
1 byte
-
Header
- 1 6 -
