Where’s documentation for interpreting the content of the window field in customizable packet format? Lidar Data | Ouster Sensor Docs | Documentation . How does it interact with min_range_threshold_cm ?
Why isn’t window a part of the newest RGB profiles?
How are invalid values represented when I set min_range_threshold_cm to 0? Because normally, 0 means invalid. Or is it so that measuring an actual 0 is not possible due to the distance of the projector and the window screen?
What is the exact meaning of the bits in column header? Does ERR = 1 always imply STA = 0 ? What is LMW? does it mean that if this is set to 1, the laser had on-chip problems being fired? How/why could that happen? Also, does LMW = 1 imply STA = 0?
I’ve plotted the Window field values of a Dome. I took all missed rays (range = 0) and projected them to a preconfigured distance (range = max_range + delta). I copied the Window values to Intensity of this pointcloud and this is what I get.
What’s weird is the zebra-like nature of the output, I wouldn’t expect that…
Our sensor did actually have some real blockage at the top and bottom, so the whiter values there are expected. But the zebra pattern is not.
What I want to achieve is determine which rays can be safely used for clearing maps via raytracing (i.e. clear all voxels between the sensor and a predefined range). The idea is that I take all rays that did not hit anything - so those with range = 0 and without blockage. Is there a good threshold for the window values I should use?
