Hesai QT128C2X, Руководство пользователя

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■ Firing Time Offset of Each Channel
Assume that the start time of Block m is T(m), m ∈ {1, 2}, then the laser firing time of Channel n in Block m is
t(m, n) = T(m) + Δt(n), n ∈ {1, 2, …, 128}.
The firing time offsets Δt(n) are listed in the lidar unit's firetime correction file, shown in the table next page.
· LoopNum is the number of firing sequences.
· "Loop1" and "Loop2" are the firing channels of Firing Sequences 1 and 2, respectively. The firing channels are listed in the ascending order
of Δt(n).
· "Firetime1" and "Firetime2" are the firing time offsets Δt(n) (Unit: μs), which are the same.
· The file contains 99 rows of effective data (3 header rows and 96 channel rows), appended by 32 all-zero rows (shown as ellipses in the table
next page).
To obtain the firetime correction file:
· send PTC command 0xA9, as described in Hesai TCP API Protocol (Chapter 5);
· or export the file using PandarView, see the PandarView user manual.