RoboSense RS-LiDAR-M1, Руководство пользователя, Страница: 7 / 54

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RS-LiDAR-M1 User Guide
Protocol data
LiDAR Information Output
Protocol
DIFOP
Output device
information
UDP 256 Bytes
Note: The following chapters describe and define the payload (MSOP package of 1210 bytes and
DIFOP package of 256 bytes) of the protocols.
2.1 Main Data Stream Output Protocol (MSOP)
Main data Stream Output Protocol is abbreviated as MSOP.
I/O type: LiDAR output, computer analysis.
Default port number: 6699.
The MSOP packets output three-dimensional measurement related data, including
laser ranging value, return reflectivity value, vertical angle, horizontal angle and time
stamp. The payload length of the MSOP packet is 1210 bytes, which consists of a
synchronization header of 32 bytes, a data packet of 1175 bytes (a total of 25 data blocks
of 47 bytes), and a tail of 3 bytes.
The basic structure of the MSOP packet is as shown in the figure below:
MSOP Packet (1210 Bytes)
3 Bytes
32 Bytes
data packet
25 * 47 Bytes = 1175 Bytes
32 Bytes
（
The 11 th ~
20 th byte
indicates
the
timestamp
Header
3 Bytes
（
Reserved
）
Tail
channel 2 data
time_offset
Data block n
return_seq
channel 1 data
channel 3 data
channel 4 data
channel 5 data
channel 2 data
time_offset
Data block 25
return_seq
channel 1 data
channel 3 data
channel 4 data
channel 5 data
channel 2 data
time_offset
Data block 1
return_seq
channel 1 data
channel 3 data
channel 4 data
channel 5 data