Hesai Pandar64 - 3. Data Structure

3. Data structure
Lidar data
Point Cloud Data Packet: 1240 bytes*
Ethernet header: 42 bytes
UDP data: 1194 bytes *
Header: 8 bytes
Body: 1164 bytes
Tail: 22 bytes *
Ethernet tail: 4 bytes
GPS Data Packet: 558 bytes
Ethernet header: 42 bytes
UDP data: 512 bytes
Ethernet tail: 4 bytes
* UDP sequence is OFF by default. When UDP sequence is ON, 4 bytes will be added to UDP data.
Figure 17. Lidar data structure
Pandar64
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