User's Manual

5.3 Header and Footer Structure

Magic Header : 8 Bytes, [2 1 4 3 6 5 8 7]

Frame Number : 4 Bytes, uint32_t, frame number

Version number : 4 Bytes, uint32_t, Version number, uint32_t format: MMddhhmm

NumDetections : 2 Bytes, uint16_t, Number of Detection in the frame

NumTracks : 2 Bytes, uint16_t, Number of Tracks in the frame

Host Speed : 2 Bytes, int16_t, divide by 100 to get ego speed in m/s

(e.g. 6453 = 64.53 m/s, e.g. -2456 = -24.56 m/s)

Host Angle : 2 Bytes, int16_t, divide by 100 to get host angle in degree. Clockwise

rotation corresponds to positive rotation.

(e.g. 1400 = 14 deg)

Reserved*4 : 8 Bytes, currently reserved as 4 uint, data type could change.

Range Accuracy Idx0 : 2 Bytes, uint16_t, divide by 10000 to get value in m