PointCloud mask

[Samahu]

Related Issues & PRs

• None

Summary of Changes

• Implemented a mask filter on the received LidarScan.
• The mask is applied to the cloud + the image messages
• If the supplied mask size is different from the received LidarScan, the driver will resize the mask to match incoming scans size.

Validation

• Test out a sequence without applying a mask:
  
• Generate any mask composed of Black/White pixels, such as:
  
• Apply the mask as follows:

roslaunch ouster_ros driver.launch sensor_hostname:=<source_url> mask_path:=<path/to/mask.png>

• Observe the masked image in RVIZ/image_view:
  
• Observe the mask cloud in RVIZ/cloud_view
  

[matthew-lidar]

Looks pretty good, though I would at least change how we handle input mask pixel values.