Thank you again for the detailed explanation of the current ICP failure mode. It is helpful as we plan our next field test.
We also posted a separate question about slow rotational drift in longer runs:
We collect mobile road-corridor data. We are moving to continuous raw recordings with a real stationary period at the start of each processed session, but field work sometimes requires stopping one recording and starting another.
Our Ouster is PPS-synchronized, and the PCAP includes a time-aligned GNSS/INS feed with roll, pitch, and yaw. We have tested applying that attitude after SLAM through PoseOptimizer. It can improve leveling, but strong or dense corrections can distort otherwise clean LiDAR geometry.
Is there a supported, experimental, or planned way for ouster-cli source ... slam to use a PPS-aligned GNSS/INS attitude feed? Could it be useful at the start of a run and, if appropriate, later when LiDAR geometry is weak?
We are trying to understand whether the time-aligned attitude already in the recording could support SLAM in an Ouster-recommended way while retaining clean local LiDAR geometry.
We understand this may not solve every low-feature ICP failure. If Ouster has a relevant beta or early-access program, we would be interested in participating and can provide repeatable PPS-synchronized PCAP and GNSS/INS examples.