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Adjust pipeline to accept colors in LAZ, imu only preset for step 1 - #569
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michalpelka wants to merge 4 commits into
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michalpelka wants to merge 4 commits into
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rosbags/OusterPcapReader parses the Ouster metadata JSON (FW 2.4+ layout) and decodes lidar and IMU UDP packets from a pcap. ouster_pcap_to_laz writes them as a mandeye session through MandeyeSessionWriter: points in the sensor frame with column timestamps and reflectivity as intensity, IMU rotated into the same frame. --stationary-imu writes a synthetic IMU stream for captures without IMU packets. MandeyeSessionWriter gains with_rgb, writing LAS point format 3, so RGB profiles keep their colour (--rgb auto|raw|off). Co-Authored-By: Claude Opus 5.5 <noreply@anthropic.com>
Signed-off-by: Michał Pełka <michalpelka@gmail.com>
calib::PointCloud reads LAS rgb (16-bit high byte, or unscaled when a file stores 8-bit values; all-zero rgb counts as no colour). The viewer uses it for points no camera image colours, flagging them in the top byte of colorPacked so the RGB render mode keeps them, and enables RGB mode for sessions with LAZ colour but no images. Co-Authored-By: Claude Opus 5.5 <noreply@anthropic.com>
Signed-off-by: Michał Pełka <michalpelka@gmail.com>
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