RoboSense RS-LiDAR-M1 - Page 9

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RS-LiDAR-M1 User Guide
2.1.2 Data Packet
The data packet in the MSOP packet stores the data measured by the LiDAR. It has
a total of 1175 bytes consisting of 25 data blocks, each data block has 47 bytes.
In single return mode, each data block represent the complete measurement data
measured by a group of 5 laser channels at one time. Each data block stores the data of
one transmission in the single return mode.
In dual return mode, the odd numbered MSOP packets store the data of the first return,
including 25 data blocks. The even numbered MSOP packets store the data of the second
return, including 25 data blocks. The first and second returns are stored by turns in
sequence. The type of returned packets could be judged according to the ‘returen_seq’
value in the data block, please check Table 5 for detailed definition. Every two MSOP
packets form a complete measurement. The total number of data points in a dual return
mode is twice that of a single return mode.
The detailed definition is as follows:
Table 5： Definition of data block in MSOP packet
data block N (47 Bytes)
content
offset(byte)
byte
instruction
time_offset
0
1
The time offset of all points in the block relative
to the timestamp of the packet, the time of this
group of points equals to
timestamp+time_offset
return_seq
1
1
Return sequence. In single-return mode, this
flag is always 0; in dual-return mode, the first
return (closer) is represented by 0x1, and the
second return (further) is represented by 0x2
ch1_radius
2
2
In the polar coordinate system, the radial
distance value of the channel 1 points, the
distance resolution is 5mm
ch1_elevation
4
2
In the polar coordinate system, the vertical
angle of the channel 1 points, the resolution is
0.01°
ch1_azimuth
6
2
In the polar coordinate system, the horizontal
angle of the channel 1 points, the resolution is
0.01°
ch1_intensity
8
1
Reflection intensity value of the channel 1
points, the value range is 0~255