Hesai XT32M2X - 3. Data structure; Data packet overview

3. Data structure
Unless otherwise specified, all the multi-byte fields are unsigned values in little-endian format.
Lidar data
Point Cloud Data Packet: 866 bytes
Ethernet header: 42 bytes
Point cloud UDP data: 820 bytes
Pre-Header: 6 bytes
Header: 6 bytes
Body: 780 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 16. Data structure
-33-