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3
Data Structure
The lidar outputs Point Cloud Data Packets and GPS Data Packets using 100 Mbps Ethernet UDP/IP.
Each data packet consists of an Ethernet header and UDP data.
Unless otherwise specified, all the multi-byte fields are unsigned values in little endian format.
Figure 3.1 Data Structure
LiDAR Data
Point Cloud Data Packet: 1122 bytes
Ethernet Header: 42 bytes
UDP Data: 1080 bytes
GPS Data Packet: 554 bytes
Ethernet Header: 42 bytes
UDP Data: 512 bytes
Pre-Header: 6 bytes
Header: 6 bytes
Tail: 24 bytes
Additional Info: 4 bytes
Body: 1040 bytes
Summary of Contents for PandarXT
Page 1: ...www hesaitech com HESAI Wechat PandarXT 32 Channel Medium Range Mechanical LiDAR User Manual...
Page 19: ...17 2 Setup 2 1 Mechanical Installation Figure 2 1 Front View Unit mm...
Page 20: ...18 Figure 2 2 Bottom View Unit mm...
Page 21: ...19 2 1 1 Recommended Installation Figure 2 3 Recommended Installation...
Page 29: ...27 2 3 2 Connection Figure 2 9 Connection Box Connection with GPS...
Page 30: ...28 Figure 2 10 Connection Box Connection with PTP...
