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fix: cut angle for left_upper and front_upper #349

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merged 4 commits into from
Nov 28, 2024

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badai-nguyen
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@badai-nguyen badai-nguyen commented Nov 28, 2024

@badai-nguyen badai-nguyen marked this pull request as ready for review November 28, 2024 05:01
Signed-off-by: badai-nguyen <[email protected]>
@badai-nguyen badai-nguyen requested a review from mojomex November 28, 2024 08:15
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mojomex commented Nov 28, 2024

As discussed in Slack, this will probably work fine because the LiDAR's resolution of 0.1 degrees is coarser than the set cut_angle with 0.01deg resolution. Thus, no points are expected to be between 359.99 and 360deg, and thus no points are expected to be forwarded to the next scan.

As Nebula has not been evaluated with this workaround in mind, please know that this is not guaranteed to work.

A safe fix would be to set cloud_max_angle = cut_angle = 359.
Once Nebula is fixed and a cut_angle of 360 is accepted, setting both to 360 will be the optimal long-term setting.

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@TomohitoAndo

A safe fix would be to set cloud_max_angle = cut_angle = 359.
Once Nebula is fixed and a cut_angle of 360 is accepted, setting both to 360 will be the optimal long-term setting.

If there is not a big issue to reduce FOV 1deg, I will change to @mojomex idea.

@badai-nguyen badai-nguyen merged commit f711c13 into beta/x2_gen2/v0.29.0 Nov 28, 2024
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@badai-nguyen badai-nguyen deleted the fix/x2gen2/cut_angle branch November 28, 2024 14:58
TomohitoAndo pushed a commit that referenced this pull request Dec 21, 2024
* fix: cut angle for left_upper and front_upper

Signed-off-by: badai-nguyen <[email protected]>

* chore: adjust cut angle

Signed-off-by: badai-nguyen <[email protected]>

* fix: make sure cut_angle equal max angle

Signed-off-by: badai-nguyen <[email protected]>

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Signed-off-by: badai-nguyen <[email protected]>
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4 participants