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◼ Body

Body: 1032 bytes (4 blocks)

Block 1

Block 2

Block 3

Block 4

Azimuth 1

Azimuth 2

Azimuth 3

Azimuth 4

Channel 1

Channel 2

…

Channel 64

Under the Dual Return mode, the ranging data from each firing is stored in two adjacent blocks, and the azimuth changes every two blocks.

Block size = Size of Azimuth + 64 * Size of Channel X = 258 bytes

Each Block in the Body: 258 bytes

Field

Bytes

Description

Azimuth

Current reference angle of the rotor

Azimuth[15:0]: lower byte Azimuth_L[7:0], upper byte Azimuth_H[15:8].

Azimuth Angle = [Azimuth_H, Azimuth_L] / 100° = Azimuth / 100°

Channel X

2-byte Distance

Distance[15:0]: lower byte Distance_L[7:0], upper byte Distance_H[15:8]

Distance Value = [Distance_H, Distance_L] * 4 mm = Distance * 4

Maximum Distance Value = (2 ^ 16 – 1) * 4 mm = 262.14 m

1-byte Reflectivity

Reflectivity, in percentage (0 to 255%)

NOTE PandarQT does not support this output yet.

1-byte Background

Illumination

Relative brightness of the receiving FOV

Synchronized to the point cloud, but not related to the emitting laser pulse or distance

NOTE PandarQT does not support this output yet.

Hesai PandarQT User Manual

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