-23-
■ Body
Body: 1040 bytes (8 blocks)
Block 1
Block 2
Block 3
...
Block 8
Azimuth 1
Azimuth 2
Azimuth 3
...
Azimuth 8
Channel 1
Channel 1
Channel 1
...
Channel 1
Channel 2
Channel 2
Channel 2
...
Channel 2
...
...
...
...
...
Channel 32
Channel 32
Channel 32
...
Channel 32
Under the Dual Return mode, the measurements from each round of firing are stored in two adjacent blocks:
· The odd number block is the last return, and the even number block is the strongest return
· If the last and strongest returns coincide, the second strongest return will be placed in the even number block
· The Azimuth changes every two blocks
Block size = size of A 32 * size of Channel X
Each Block in the Body: 130 bytes
Field
Bytes
Description
Azimuth
2
Current reference angle of the rotor, in little endian format (lower byte first)
Azimuth Angle = Azimuth / 100°
Channel X
4
2-byte Distance
In little endian format (lower byte first)
Distance Value = Distance * 4
1-byte Reflectivity
Reflectivity, in percentage (0 to 255%)
Reserved
-
Содержание PandarXT-32
Страница 1: ...www hesaitech com PandarXT 32 32 Channel Medium Range Mechanical LiDAR User Manual HESAI Wechat...
Страница 12: ...10 2 Setup 2 1 Mechanical Installation Figure 2 1 Front View Unit mm...
Страница 13: ...11 Figure 2 2 Bottom View Unit mm...
Страница 14: ...12 Recommended Installation Figure 2 3 Recommended Installation...
Страница 19: ...17 2 3 2 Connection Figure 2 9 Connection Box Connection NOTE Refer to Appendix III when PTP protocol is used...
