The image shows Danfoss's coordinate frames for a vehicle, XM100 controller, and LiDAR. Danfoss
recognizes the front of LiDARs as opposite the cable. Ouster Studio uses a different coordinate frame
where the cable is the front of the LiDAR.
Azimuth Window
The azimuth window designates a horizontal space within the 360 degree scanning area where the
Ouster LiDAR hardware collects data. The azimuth window could range from collecting 360 degrees
worth of data with each LiDAR rotation, to collecting data from a specific range like 0-90 degrees.
When configured, the Ouster LiDAR compliance block writes only data located within the azimuth
window to the data locker. This reduces the bandwidth required for transmitting scan data, potentially
allowing for higher resolution scans or more LiDAR sensors to be configured.
The minimum azimuth bound (Min_Azimuth_Bound) sets the starting angular degree and the
maximum azimuth bound (Max_Azimuth_Bound) sets the ending angular degree of the azimuth
window. Configure the azimuth window by setting the minimum and maximum bound parameters in
the Ouster LiDAR compliance block.
The following list the angular degree azimuth parameter values and the direction they point when using
Danfoss's coordinate system. If looking at the Ouster LiDAR hardware from the top:
•
0°: Forward, exactly opposite the connector
•
90°: Quarter turn counter-clockwise from the front of the scanner
•
-90°: Quarter turn clockwise from the front of the scanner
•
180° and -180°: Backward, pointed at the connector
Both -180° and 180° point backward in Danfoss's coordinate system, but Ouster uses a 360° rotation
in their own software. When setting the minimum azimuth bound parameter, use -180° and when
setting the maximum azimuth parameter, use 180°. The minimum azimuth bound parameter value
must be less than the maximum azimuth bound parameter.
User Manual
Ouster LiDAR
Introduction
©
Danfoss | March 2023
AQ404281942428en-000103 | 11
