RoboSense RS-Bpearl, User Manual

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RS-Bpearl User Manual
Time_offset is:
Formal for Calculation of Time_offset from Channel 1 to channel 8 and
from channel 17 to channel 24:
Time_offset = 55.52 * (floor ((sequence_index - 1) /2)) + 2.56 *
mod((data_index – 1) , 16)
+ 1.28 * floor((data_index-1) / 16)
Formal for Calculation of Time_offset from Channel 9 to channel 16 and
from channel 25 to channel 32
：
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
To calculate the exact point time (Exact_point _time), add the Time_Offset
to the timestamp:
Exact_point _time = Tim Time_offset
Note:
mod is an operator that divides two numbers and returns only the remainder.
floor is a function that returns an integer less than the argument or equal to it.