Hesai Pandar128 - Default Chapter; Table of Contents

Contents
1 Introduction
........................................................................................................
4
1.1 Operating Principle
..............................................................................................
4
1.2 LiDAR Structure
.....................................................................................................
5
1.3 Channel Distribution
...........................................................................................
6
1.4 Specifications
.........................................................................................................
7
2 Setup....................................................................................................................8
3 Data Structure................................................................................................. 18
3.1 Point Cloud Data Packet
.......................................................................
19
3.2 GPS Data Packet
......................................................................................
24
4 Web Control..................................................................................................... 30
4.1 Home
..........................................................................................................
31
4.2 Settings
..................................................................................................................
32
4.3 High Resolution
..................................................................................................
36
4.4 Operation Statistics
...........................................................................................
37
4.5 Monitor
..................................................................................................................
38
4.6 Upgrade
.....................................................................................................
39
5 PandarView......................................................................................................40
5.1 Installation
............................................................................................................
40
5.2 Use
...........................................................................................................................
41
5.3 Features
.................................................................................................................
43
6 Communication Protocol............................................................................. 47
6.1 Packet Structure
.................................................................................................
47
6.2 Frequently Used Commands
...............................................................
48
7 Sensor Maintenance......................................................................................56
8 Troubleshooting
.............................................................................................
57
Appendix I Channel Distribution................................................................... 59
Appendix II Absolute Time and Laser Firing Time
....................................
68
II.1 Absolute Time of Point Cloud Data Packets
....................................
68
II.2 Start Time of Each Block
.......................................................................
69
II.3 Laser Firing Time ofEach Channel
..............................................................
70
Appendix III PTP Protocol
...............................................................................
86
Appendix IV Certification Info.........................................................................88
Appendix V Support and Contact..................................................................89