Hesai PandarXT-16 - B.2. Absolute time of Point Cloud Data Packets; B.3. Start 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 3.1.2.4 Tail.
B.3. Start time of each block
Given the Absolute time of Point Cloud Data Packets as t
0
, the start time of each block (i.e., the time when the first firing starts) can be calculated.
Single return mode
Block Start time (μs)
Block 8 t
0
+ 5.632
Block N t
0
+ 5.632 – 50 × (8 – N)
Block 3 t
0
+ 5.632 – 50 × 5
Block 2 t
0
+ 5.632 – 50 × 6
Block 1 t
0
+ 5.632 – 50 × 7
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