Hesai Pandar64 - Absolute Time of Point Cloud Data Packets; End Time of each Block

B.2. Absolute time of Point Cloud Data Packets
The absolute time of Point Cloud Data Packets is t
0
= t
s
+ t
ms
, where:
•
t
s
is the whole second part (see the Date & Time field).
•
t
ms
is the microsecond part (see the Timestamp field).
The definition of the above fields is in Section 3.1.2.3 Tail.
B.3. End time of each block
Given the absolute time of a Point Cloud Data Packet t
0
, the end time of each block (i.e., the time when the last firing ends) can be calculated.
Single Return mode
Block End time (μs)
Block 6 t
0
– 42.58
Block N t
0
– 42.58 – 55.56 × (6 – N)
Block 3 t
0
– 42.58 – 55.56 × 3
Block 2 t
0
– 42.58 – 55.56 × 4
Block 1 t
0
– 42.58 – 55.56 × 5
Dual Return mode
Block End time (μs)
Block 6 & Block 5 t
0
– 42.58
Block 4 & Block 3 t
0
– 42.58 – 55.56 × 1
Block 2 & Block 1 t
0
– 42.58 – 55.56 × 2
Pandar64
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