.calib file included more information for OS-128, instead of using the previous json file.

[Crear12]

Hi,
Instead of the OS-64 we were testing last year, now we are dealing with the newest 128 Beam Ouster LiDAR, there are a lot of new features such as the json files were replaced by some txt files ended with .calib, I can parse the "beam_altitude_angles" and "beam_azimuth_angles" as before with a little efforts, but they also included something new which I'm not sure whether needed for points extraction:
"lidar_origin_to_beam_origin_mm" : 15.805999999999999
},
"config_txt" :
{
"auto_start_flag" : 1,
"azimuth_window" : [ 0, 36000 ],
"lidar_mode" : "1024x10",
"multipurpose_io_mode" : "OFF",
"nmea_baud_rate" : "BAUD_9600",
"nmea_ignore_valid_char" : 0,
"nmea_in_polarity" : "ACTIVE_HIGH",
"nmea_leap_seconds" : 0,
"sync_pulse_in_polarity" : "ACTIVE_HIGH",
"sync_pulse_out_angle" : 360,
"sync_pulse_out_frequency" : 1,
"sync_pulse_out_polarity" : "ACTIVE_HIGH",
"sync_pulse_out_pulse_width" : 10,
"timestamp_mode" : "TIME_FROM_INTERNAL_OSC",
"udp_ip" : "fe80::18e8:d4a5:7786:628%eth0",
"udp_port_imu" : 7503,
"udp_port_lidar" : 7502
},
"imu_intrinsics" :
{
"imu_to_sensor_transform" :
[
1,
0,
0,
6.2530000000000001,
0,
1,
0,
-11.775,
0,
0,
1,
7.6449999999999996,
0,
0,
0,
1
]
},
"json_calibration_version" : 2,
"lidar_data_format" :
{
"columns_per_frame" : 1024,
"columns_per_packet" : 16,
"pixel_shift_by_row" :
[
24,
16,
8,
0,
24,
16,
8,
0,
24,
16,
8,
0,
24,
16,
8,
0,
24,
16,
8,
0,
24,
16,
8,
0,
24,
16,
8,
0,
24,
16,
8,
0,
24,
16,
8,
0,
24,
16,
8,
0,
24,
16,
8,
0,
24,
16,
8,
0,
24,
16,
8,
0,
24,
16,
8,
0,
24,
16,
8,
0,
24,
16,
8,
0,
24,
16,
8,
0,
24,
16,
8,
0,
24,
16,
8,
0,
24,
16,
8,
0,
24,
16,
8,
0,
24,
16,
8,
0,
24,
16,
8,
0,
24,
16,
8,
0,
24,
16,
8,
0,
24,
16,
8,
0,
24,
16,
8,
0,
24,
16,
8,
0,
24,
16,
8,
0,
24,
16,
8,
0,
24,
16,
8,
0,
24,
16,
8,
0
],
"pixels_per_column" : 128
},
"lidar_intrinsics" :
{
"lidar_to_sensor_transform" : [ -1, 0, 0, 0, 0, -1, 0, 0, 0, 0, 1, 36.18, 0, 0, 0, 1 ]
},
"sensor_info" :
{+++++Some Serial Number information here+++++}