Hesai PandarXT-16 - 3. Data structure

3. Data structure
Unless otherwise specified, all the multi-byte fields are unsigned values in little-endian format.
Lidar data
Point Cloud Data Packet: 614 bytes
Ethernet header: 42 bytes
Point cloud UDP data: 568 bytes
Pre-Header: 6 bytes
Header: 6 bytes
Body: 528 bytes
Tail: 24 bytes
Additional information: 4 bytes
Ethernet tail: 4 bytes
GPS Data Packet: 558 bytes
Ethernet header: 42 bytes
GPS UDP data: 512 bytes
Ethernet tail: 4 bytes
Figure 25. Data structure
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