Lidar Integration

Ouster Gemini Detect is optimized for an Ouster lidar, enabling a tight integration that fully leverages their capabilities. An overview of how Ouster Gemini Detect configures an Ouster lidar when added:

Sensor Configuration

Ouster Gemini Detect commands the lidar to start sending point cloud and IMU data to it through exposed ports (ports 9000-9007 for lidar data and 9500-9507 for IMU data). Ouster Gemini Detect does not change the lidar_mode of the lidar. The user is required to configure the lidar_mode as desired.

By default, Ouster Gemini Detect will change the UDP profile to be in low bandwidth mode (RNG15_RFL8_NIR8). This behavior can be changed in the settings if this is not desired. Ouster Gemini Detect does not currently support dual return mode (RNG19_RFL8_SIG16_NIR16_DUAL).

Monitoring Networking Issues

Ouster Gemini Detect monitors network traffic from each lidar and will alert you if the network fails or degrades. If no data is received, it triggers alert 0x2000001 (see Alert Data).

Lidar frames are made up of multiple network packets. If the network is congested or degraded, some packets may be dropped, leading to incomplete frames. Ouster Gemini Detect tracks and reports the percentage of incomplete frames for each lidar. To monitor this, Ouster Gemini Detect calculates and reports the ratio of incomplete frames it has recently experienced for each lidar. This value is reported as a percentage of total frames through the field percentage_incomplete_frames through telemetry (refer to Diagnostics Telemetry). If the percentage of incomplete frames stays above 10% for more than 5 seconds, Ouster Gemini Detect will trigger alert 0x2000019. This threshold can be adjusted in the settings.

Alert and Telemetry Data

Ouster lidar’s come with their own alerts and telemetry, which offer insights into their operating state. This lidar telemetry is integrated into the Ouster Gemini Detect telemetry (see Diagnostics Telemetry). Lidar alerts are displayed alongside Ouster Gemini Detect alerts, allowing users to view both types of alerts simultaneously (see Alert Data and Dignostics Alerts).

System Status

When Ouster Gemini Detect connects to a lidar, the lidar will transition to RUNNING state. If for any reason the lidar goes into an ERROR state, Detect will attempt to re-initialize the lidar to limit downtime. If the lidar reports an ERROR state after re-initialization, Detect will continually attempt to re-initialize it forever. At the same time, Detect will keep alert 0x2000001 until the lidar is in a RUNNING state again or removed.