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7. Angle and Coordinate Calculation
7.1 Vertical Angle
Take single echo mode as an example: The vertical angle is obtained from the
data packet, whose effective data area contains a total of 1197 bytes, including
171 points, that is, 171*7=1197 bytes. Take the first measure point as an
example:
Byte 1 represents the line number, whose value range from 0 to 127, a total of
128 lines. The 128 lines respectively corresponds to the lowermost ray to the
uppermost ray in the entire vertical field of view. For example, line No. 0
represents a vertical angle of -18°, line No. 1 represents a vertical angle of -
17.75°, and the angle difference between adjacent lines is 0.25° or 0.125°. See
the figure below:
Figure 7.1 Angle Between Light and Lidar’s Horizontal Direction
7.2 Horizontal Angle
Byte 2 and Byte 3 represent the horizontal angle, whose data are stored in Big-
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