Support for Ouster Lidar OS1-64 Gen2

Please provide the following info:
Software Version
DRIVE OS Linux 5.2.0
DRIVE OS Linux 5.2.0 and DriveWorks 3.5
NVIDIA DRIVE™ Software 10.0 (Linux)
NVIDIA DRIVE™ Software 9.0 (Linux)
other DRIVE OS version

Target Operating System

Hardware Platform
NVIDIA DRIVE™ AGX Xavier DevKit (E3550)
NVIDIA DRIVE™ AGX Pegasus DevKit (E3550)

SDK Manager Version

Host Machine Version
native Ubuntu 18.04

Got some issue on displaying the lidar point cloud captured from Ouster lidar OS1-64 Gen2 with 45Deg vertical field of view. Not sure if there is a support issue on this sensor. See the image below. Thank you!

Dear @baoxin.chen,
Is it from live sensor or replaying the recorded data? Could you share the steps/data/logs to reproduce the issue.

Hi Siva,

The image above is from the recorded data. The same problem also occurs on live sensor data. No matter how I change the horizontal resolution and frequency, the problem could not be solved. I will capture a small batch of data and share it here later today.
FIY, the OS1-64 gen 1 with 33.2Deg FOV works fine on Pegasus.

Hi Siva,

We had captured two small data sequences to compare the problem of the Gen2 lidar. You could download them from this link.
Both lidars were set as ip=, hres=1024, scan-frequency=10. Below is the command we ran to visualize the real-time data.
./sample_lidar_replay --protocol=lidar.socket --params=device=OUSTER_OS1,ip=,dip=,port=7502,hres=1024,scan-frequency=10 --show-intensity=true
This is the command we use to visualize the replay data:
./install/bin/sample_lidar_replay --protocol=lidar.virtual --params=file=Path/lidar_ouster.bin --show-intensity=true