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RoboSense RS-Bpearl

RoboSense RS-Bpearl
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25
RS-Bpearl User Manual
Time_offset is:
Formal for Calculation of Time_offset from Channel 1 to channel 8 and from channel 17 to
channel 24:
Time_offset = 55.52 * (sequence_index - 1) + 2.56 * mod((data_index 1) , 16) + 1.28 *
floor((data_index-1) / 16)
Formal for Calculation of Time_offset from Channel 9 to channel 16 and from channel 25
to channel 32
Time_offset = 55.52 * (sequence_index - 1) + 2.56 * mod((data_index 1) , 16) + 1.28 *
floor((data_index-1) / 16) + 5.2
To calculate the exact point time, add the Time_Offset to the timestamp
Exact_point _time = Timestamp + Time_offset

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