RoboSense RS-LiDAR-M1, User Manual, Page: 11 / 54

·
RS-LiDAR-M1 User Guide
ch5_azimuth 42 2
In the polar coordinate system, the horizontal
angle of the channel 5 points, the resolution is
0.01°
ch5_intensity 44 1
Reflection intensity value of the channel 5
points, the value range is 0~255
resev. 45 2 Reserved bits
N is the N
th
data block in any MSOP packet.
time_offset: the time offset of all points in the N th block relative to the time stamp of
the packet. The time of this group of points equals time stamp+time_offset.
return_seq: return sequence. In single-return mode, this flag is always 0; in dual-
return mode, the first return (closer) is represented by 0x1, and the second return (further)
is represented by 0x2
n is the n th channel in the N th data block, n=1, 2, 3, 4, 5, which contains data as follows:
chn_radius: the radial distance value of the points of channel n in the polar
coordinate system, the resolution is 5mm.
chn_elevation: the vertical angle of the channel n points in polar coordinate system,
the resolution is 0.01°
chn_azimuth: the horizontal angle of the channel n points in polar coordinate system,
the resolution is 0.01°
chn_intensity: reflection intensity value of the channel n points, the value range is
0~255.
2.1.2.1 Channel Data Definition
The channel data is 9-byte long, with the radial distance of this channel occupying 2
bytes, the elevation angle occupying 2 bytes, the horizontal angle occupying 2 bytes, the
reflection intensity value occupying 1 byte, and 2 bytes reserved.
Detailed definitions are as follows:
Table 6 ： Definition of channel data in data block
channel data （ 9 Bytes
)
chn_radius
(2 Bytes)
chn_elevation
(2 Bytes)
chn_azimuth
(2 bytes)
chn_intensity
(1 Byte)
R1 [15:8]
R2
[7:0]
E1[15:8] E2[7:0] A1[15:8] A2[7:0] Intensity[7:0]