26
Data Block
The measured data has a total of 1200 bytes, which is composed of 12 data
blocks, and each data block is 100 bytes in length.
A data block includes:
● 2 bytes 0xffee fixed value flag bit;
● 2 bytes Azimuth's relative horizontal angle information;
● 32-channel point cloud data (each channel 3 bytes). Each set of 32-channel
data (UDP packet encapsulation sequence) corresponds to a 32-channel laser
measurement data of the lidar at a certain launch time.
Note: The packing order of channel data increases in order. This order may be
inconsistent with the vertical angle distribution order of the channel and the
laser emission measurement time order of the channel, but there is a fixed one-
to-one correspondence. (Refer to the Vertical Angle in Chapter 7)
Azimuth
The horizontal angle value—Azimuth represents the angle of the first channel 0
of the data block, which is a relative value and its unit is 0.01°. To calculate the
absolute horizontal value, please refer to the description of section 7.2. The
resolution of the horizontal angle value corresponds to 0.09°, 0.18° and 0.36°
according to the motor speed 5 Hz, 10 Hz and 20 Hz.
Channel Data
Channel data is an unsigned integer, the 2 high bytes are distance, and the 1 low
byte is intensity, as shown in the following table.
The unit of distance is 0.4 cm. The echo intensity represents the energy
reflection characteristics of the measured object, and the intensity value
represents the intensity level of 0-255 different reflectors.
Related calculation example:
1) Horizontal angle value Azimuth: The obtained byte is in HEX: 0x12; 0x34,
then the corresponding decimal DEC is: 18; 52
-> The actual angle obtained: (52 * 256 + 18) * 0.01 = 133.30°;
2) Distance: The bytes obtained are in HEX: 0x56; 0x78, then the
corresponding decimal DEC is: 86; 120
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