This PR attempts to diverse the vertical FOV that of the viewport and the half-power beam pattern calculation.
Unlike the azimuthal angle direction beam pattern, in which each beam's half-power angle width is as small as 0.25 degrees for each beam, the elevation beam pattern is assumed to be equal to the vertical FOV of the spec sheet, i.e. 10~20 degrees. Therefore, the actual sonar experiment data is still showing objects that are out of spec sheet vertical FOV that is out of half-power beam pattern vertical angle. This modification adds another parameter verticalFOV that defines half-power beam pattern angle in a vertical angle different from the vertical viewport angle used in the depth camera. For azimuthal direction, it is neglected due to small beamwidth.
This PR attempts to diverse the vertical FOV that of the viewport and the half-power beam pattern calculation.
Unlike the azimuthal angle direction beam pattern, in which each beam's half-power angle width is as small as 0.25 degrees for each beam, the elevation beam pattern is assumed to be equal to the vertical FOV of the spec sheet, i.e. 10~20 degrees. Therefore, the actual sonar experiment data is still showing objects that are out of spec sheet vertical FOV that is out of half-power beam pattern vertical angle. This modification adds another parameter
verticalFOVthat defines half-power beam pattern angle in a vertical angle different from the vertical viewport angle used in the depth camera. For azimuthal direction, it is neglected due to small beamwidth.