Hesai Pandar128 - Data Structure; Point Cloud Data Packet; GPS Data Packet

8
Point Cloud Data Packet
854 bytes
GPS Data Packet
554 bytes
Ethernet Header
42 bytes
UDP Data
812 bytes
Ethernet Header
42 bytes
UDP Data
512 bytes
Pre-Header
6 bytes
Header
6 bytes
Body
772 bytes
Tail
24 bytes
Additional Info
4 bytes
LiDAR Data
2.
Set up
Please find operational manual
3. Data Structure
1000 MbpsEthernet UDP/IP is usedfor data output. The output dataincludes PointCloudDataPackets and GPSDataPackets.
All the multi-byte values are unsigned and in little endian format.
Figure 3.1 Data Structure