Velodyne HD HDL-64E S2.1 Instructions d'exploitation télécharger pdf (Page 26)

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A P P E N

E :

A PA

K E

F O R M A

and

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Data Packet Format

The sensor outputs UDP Ethernet packets. Each packet contains a header, a data payload of firing data and status data. Data packets are

assembled with the collection of all firing data for six upper block sequences and six lower block sequences. The upper block laser distance

and intensity data is collected first followed by the lower block laser data. The data packet is then combined with status and header data

in a UDP packet transmitted over Ethernet. The firing data is assembled into the packets in the firing order, with multi-byte values transmitted

least significant byte first.

The status data always contains a GPS 4 byte timestamp representing microseconds from the top of the hour. In addition, the status

data contains one type of data. The other status data rotates through a sequence of different pieces of information. See datagram on

the next page.

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Velodyne HD HDL-64E S2.1 Instructions d'exploitation Page 26