Ussama Naal

Once you saved the raw packets in the bag file you could extract the point cloud through `replay.launch` then process the generated `/ouster/points` topic. You could process the topic in...

> For instance, dividing 6.5 million by 365 could provide the data for angles between 0 and 1, or dividing by 128 could yield the data for one channel (or...

Do you get the same gaps when replaying the bagfile through the driver?

I don't have an update but looking briefly at your code I am wondering if you actually filter out ImuPacket before trying to parse the packet as a LidarPacket.

@Pallav1299 I agree there is a lack of documentation/support on how to utilize the second return to filter smoke or dust and other particles. But in principle when dual mode...

@Pallav1299 I am asking around if we can publicly share access to the raw data of the recording that you referenced. According to one of my colleagues the capture didn't...

@Pallav1299 You should take advantage of the signal/intensity channel in both returns since it response is weak to smoke and fog. The PointCloud(s) generated by ouster-ros driver directly embeds this...

I had a brief look at your PR :eyes: but the way I see it, it would be much better to implement this filter at the LidarPacketHandler level rather than...

Hi @ovaag, sorry I just had the time to look again at the original PR again and read your message. With regard to the last part of your question, yes...

> Would this be something that could possibly go into the new Telemetry msg? The `Telemetry` message is processed per packet, it does not have an overview of the `LidarScan`....