Hesai PandarQT - Data Structure; 3.1 Point Cloud Data Packet

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3 Data Structure
UDP/IP Ethernet (Automotive 100BASE-T1, Slave Mode) is used for data output. The output data includes Point Cloud Data Packets and GPS Data Packets.
All the multi-byte values are unsigned and in little endian format.
Figure 3.1 Data Structure
LiDAR Data
Point Cloud Data Packet
1114 bytes
Ethernet Header
42 bytes
UDP Data
1072 bytes
Pre-Header
6 bytes
Header
6 bytes
Body
1032 bytes
Tail
24 bytes
Additional Info
4 bytes
GPS Data Packet
554 bytes
Ethernet Header
42 bytes
UDP Data
512 bytes