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30
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3.1
Point Cloud Data Packet
3.1.1
Ethernet Header
Each lidar has a unique MAC address. The source IP is 192.168.1.201 by default, and the destination IP is 0xFF FF FF FF (broadcast).
Point Cloud Ethernet Header: 42 bytes
Field
Bytes
Description
Ethernet II MAC
12
Destination: broadcast (0xFF: 0xFF: 0xFF: 0xFF: 0xFF: 0xFF)
Source: (xx:xx:xx:xx:xx:xx)
Ethernet Data Packet Type
2
0x08, 0x00
Internet Protocol
20
Shown in Figure 3.2
UDP Port Number
4
UDP source port (0x2710, representing 10000) Destination port (0x0940, representing 2368)
UDP Length
2
0x04B2 when UDP sequence is OFF, representing 1202 bytes (8 bytes more than the size of the
Point Cloud UDP Data, shown in Figure 3.1)
0x04B6 when UDP sequence is ON, representing 1206 bytes
UDP Checksum
2
Shown in the figure below
Figure 3.2 Point Cloud Ethernet Header - Internet Protocol
Содержание Pandar64
Страница 1: ...www hesaitech com HESAI Wechat Pandar64 64 Channel Mechanical LiDAR User Manual ...
Страница 17: ... 15 2 Setup 2 1 Mechanical Installation Figure 2 1 Front View Unit mm ...
Страница 18: ... 16 Figure 2 2 Bottom View Unit mm ...
Страница 19: ... 17 2 1 1 Quick Installation Figure 2 3 Quick Installation ...
Страница 20: ... 18 2 1 2 Stable Installation Figure 2 4 Stable Installation ...
Страница 28: ... 26 2 3 2 Connection Figure 2 10 Connection Box Connection with GPS ...
Страница 29: ... 27 Figure 2 11 Connection Box Connection with PTP ...