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computree / computree-plugin-lvox

Computree voxel plugin
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Fix scanner field of view #16

Closed giraldeau closed 7 years ago

giraldeau commented 7 years ago

The scanner field of view is sometimes wrong. The theta phi shooting pattern is directed towards the ground and does not correspond to the specified angles. The resulting Nt matrix is incomplete.

screenshot from 2017-03-20 16-29-54

screenshot from 2017-03-23 10-46-48

giraldeau commented 7 years ago

The scanner drawing is fixed in computreev3.

giraldeau commented 7 years ago

For reference, the convention for angles in LVOX is that Theta represents horizontal angle and Phi represent vertical elevation, following the mathematical convention instead of the physics and engineering convention.

The default values are adjusted to cover angles for most scanners [0, 360], [0, 180]. Emitting rays in directions where there is no points do not affect the result. However, restricting the field of view can reduce computation time.