LeiShen Intelligent System LiDAR C128 Series, Operation Instruction Manual, Page: 49 / 89

LeiShen Intelligent System CO., LTD.
LeiShen Intelligent System CO., LTD.
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output
User Configuration
Write Protocol
UCWP
User
configuration
device
parameters
input
UDP 1248byte INF

Note: The following sections describe and define the payload (1248byte) of the protocol.
1. Main data Stream Output Protocol
(MSOP)
Main data Stream Output Protocol: MSOP for short.
I/O type: device output, computer analysis. The data organization of the main data stream is in a Small Endian mode compatible with
the Velodyne data format.
The MSOP completes the data output related to the 3D field measurement. The information consists of the laser echo intensity value, the