Image gaps while LidarScan from LidarPackets

[rmbsmit]

Describe your question
I have recorded a bagfile containing LidarPackets (type PacketMsg.msg). From this data, i am trying to batch them, recreate a LidanScan using the ScanBatcher and view the Intensity/Reflectivy/Range images in python. However, when looking at the final images, there seems to be a problem in either the batching of the LidarPackets, or in the destaggering. The Range output image looks like this:

The image itself seems fine, however there are gaps in between the packages.

The sample code look like this:

        self.batcher = client._client.ScanBatcher(self.metadata)
        self.ls = client.LidarScan(height,
                          width,
                          self.metadata.format.udp_profile_lidar)

def Callback(self, msg):
packet = client.LidarPacket(msg.buf, self.metadata, _raise_on_id_check=True)
if self.batcher(packet, self.ls):
            ref_field = self.ls.field(client.ChanField.SIGNAL)
            ref_val = client.destagger(self.metadata, ref_field, inverse=False)
            ref_img = (ref_val / np.max(ref_val) * 255).astype(np.uint8)

The metadata comes from the .json file from the same recording

Platform (please complete the following information):

• Ouster OS2
• ROS version: noetic
• Operating System: Ubuntu 20.04

Can somebody help me solve the issue?

[Samahu]

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

[rmbsmit]

No, replaying the bagfile, the images look fine.

[rmbsmit]

@Samahu do you have any update on this issue? Thanks in advance

[Samahu]

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.