RoboSense LiDAR RS-Bpearl, User Manual

Page: 38 / 83

RS-Bpearl User manual
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6.2.2 Exact Point Time Calculation in Dual Return Mode
In dual return mode, each MSOP Packet has 12 data blocks and each 2 data blocks store the dual
return measurements of 1 firing sequences of 32 lasers, for example, Block 1 and Block 2 store
the dual return measurements of 1 firing sequences of 32 lasers, where Block 1 stores the
strongest return measurements, Block 2 stores the last return measurements.
The laser number(data_index) is defined as laser 1 to 32, and the laser firing sequence
number(sequence_index) is defined as sequence 1 to 12. The time stamp of each MSOP packet is
the time stamp of the first laser shooting(laser point), to calculate the exact time of each laser
shooting(laser point), a time offset(time_offset) needs to be added to the time stamp.
The time offset of channel 1 to channel 8 and channel 17 to channel 24 is calculated as:
Time_offset = 55.52 * (floor ((sequence_index - 1) /2)) + 2.56 * mod((data_index – 1) , 16) +
1.28 * floor((data_index-1) / 16)
Time_offset = 55.52 * (floor ((sequence_index - 1) /2)) + 2.56 * mod((data_index – 1) , 16) +
1.28 * floor((data_index-1) / 16) + 5.2
The exact time of each laser point is calculated as:
Exact_point _time = Tim Time_offset