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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, and the destination IP is 255.255.255.255 (broadcast).
Point Cloud Ethernet Header: 42 bytes
Field
Bytes
Description
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 Figure 3.2
UDP Port Number
4 bytes
UDP source port (0x2710, representing 10000) Destination port (0x0940, representing 2368)
UDP Length
2 bytes
0x0440, representing 1088 bytes (8 bytes more than the size of the Point Cloud UDP Data, shown in
Figure 3.1)
UDP Checksum
2 bytes
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Figure 3.2 Point Cloud Ethernet Header - Internet Protocol