User's Manual
Table Of Contents
- www.h
- Safety Notice
- 1Introduction
- 4Web Control
- 5PandarView
- 8Troubleshooting
- Appendix IChannel Distribution
- Appendix IIAbsolute Time and Laser Firing Time
- Appendix IIIPTP Protocol
- Appendix IVCertification Info
- Appendix VSupport and Contact
9
2.1
Point Cloud Data Packet
2.1.1
Ethernet Header
Each LiDAR has a unique MAC address.
The source IP is 192.168.1.201 by default. The destination IP address is 0xFF FF FF FF and in broadcast form.
Point Cloud Ethernet Header: 42 bytes
Field
Bytes
Description
Ethernet II MAC
12
Destination: broadcast (0xFF: 0xFF: 0xFF: 0xFF: 0xFF: 0xFF)
Source: (xx:xx:xx:xx:xx:xx)
Ethernet Data Packet Type
2
0x08, 0x00
Internet Protocol
20
Shown in the figure below
UDP Port Number
4
UDP source port (0x2710, representing 10000)
Destination port (0x0940, representing 2368)
UDP Length
2
0x0334, representing 820 bytes (8 bytes more than the size of the Point Cloud UDP Data)
UDP Checksum
2
-
Figure 3.2 Point Cloud Ethernet Header – Internet Protocol