Gpu lidar fix#165
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* Added lidardisplay for ubuntu * organize test files * use cylindrical gpu for test * Match GPU lidar conventions to CPU lidar conventions * GPU shader no longer uses the cam-1 inverse deprojection path for points * GPU lidar readback metadata alignment. This avoids publishing stale point data with the current tick’s pose. * gpu_cylindrical now uses the configured vertical FOV lower/upper bounds instead of assuming symmetry around zero. * GPU lidar: replace the projection-to-pixel step with explicit perspective math. * Fix partial FOV normalization issue in GPU lidar * GPU lidar guard threads beyond the actual point count * GPU lidar order ok, fixed from renderer not from lidar code * Gpu lidar working 100%
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Overview
This PR fixes a lidar bug related to data mapping into space coordinates.
Modifications
robot_quadrotor_fastphysics_lidar.jsoncfor testing purposesLidarTopDownRendererto visualize lidar scans in ubuntuShader/GPU modifications
Before this PR
output_gpu.webm
After this PR