RoboSense RS-LiDAR-32 - Page 45

RS-LiDAR-32 User Manual
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To calculate the exact point time (Exact_point _time), add the Time_Offset to the timestamp:
Exact_point _time = Timestamp + Time_offset
Note:
mod is an operator that divides two numbers and returns only the remainder.
floor is an operator that returns an integer less than the argument or equal to it.