To view and download some of the native colored Lidar samples follow this 
link.
Impressive progress!
So can we treat the RGB channel as a rolling shutter camera with very slow (and vertical) readout times (I know there’s still the staggering left, though)?
It’s also interesting that on the screenshot you shared, there are points on the sky. How are these represented? Is their XYZ NaN?
Last, the announcements said you optimized for low-cost production. Does that mean rev8 will be actually cheaper than rev7?
Just like how you get range, reflectivity, signal and near-IR data per point with our previous sensors, these also get a red green and blue measurement per point. You can use this with the range data itself to color the points directly or use it as a “rolling shutter” image, as you say since all our outputs can be represented as images once you “destagger”. I will note the readout time per unit angle is actually quite fast since the sensor spins 360 degrees and supports rotation rates up to 40 Hz.
As for the points on the sky, they are basically points with no return which we represent as having a range of 0 (invalid) from the sensor. These no-return points still have near-IR, and RGB measurements amongst others. For the purpose of visualization we overrode the range of those points to have some very large fixed values so that they show up in a pointcloud-only image.
RGB color profiles coming to ouster-ros drivers soon: Support for OusterSDK 0.16.2 and RGB profiles by Samahu · Pull Request #543 · ouster-lidar/ouster-ros · GitHub (WIP)
