Hi, I was exploring how the lidar data is represented on the display and going through the manual_control.py example. After going through the code I came to an understanding of how the data has been handled. However, I feel there are still some gaps in my understanding. Here is a list of them:
lidar_data *= min(self.hud.dim) / 100.0 : on this line is there a specific reason to divide by 100 ? Is this scaling factor a calculated number or just an empirical guess?
lidar_data = np.fabs(lidar_data): This line of code executes after the origin for plotting the points is shifted to the middle of the display. why was the need felt to retain the remaining -ve points (which will be converted to +ve values after fabs() ) and other +ve points that are probably out of the bounds of the display? Why not just remove these points?
lidar_data = np.reshape(lidar_data, (-1, 2)): why is this line needed when the lidar_data array is already in (nx2) shape (where ‘n’ represents number of data points)?
Can someone help me out?