Hey Jeremie. Thanks for your helpful reply. I'm using a VLP16 (i saw the config file for a Velodyne 16 in the devel branch). Do you have by any chance a before/after shot of the latest version? I think it would be quite helpful to see what the output would look like :slight_smile: --- [Visit Topic](https://discourse.ros.org/t/from-360-degree-sparse-point-cloud-lidar-pointcloud2-msg-to-depth-image/3318/3) or reply to this email to respond. If you do not want to receive messages from ros-users please use the unsubscribe link below. If you use the one above, you will stop all of ros-users from receiving updates. ______________________________________________________________________________ ros-users mailing list ros-users@lists.ros.org http://lists.ros.org/mailman/listinfo/ros-users Unsubscribe: