Out of curiosity, this artifact with the van in the below picture common with flash lidars? https://imgur.com/a/OI4UZt9
I am guessing the van is painted with something that strongly absorbs your laser frequencies (black paint). Is this something that your lidar is working to get around?
Part of that is probably just the resolution you're seeing on the point cloud (i.e. if it were up on a 4k OLED you'd see it a lot better than you do on that screenshot) and part of it is definitely that lidar as a broad category has a comparatively harder time with this type of surface than other surfaces. That's why it's super important when comparing lidar units to see what reflectivity they're quoting. 80% vs 10% reflectivity typically reduces range significantly.
PS if you want to get in touch directly, my email is derek.frome at ouster dot io