Comments (1)
I would guess it is because you are only adding a 1x1 m patch that is directly below the scanner, so based on your scan pattern with a theta range from 30 to 130 degrees, no points hit that patch. Try either changing your thetaMax value to something larger like 170 degrees, or better yet add a sphere or voxel or some 3D object at some distance away from the scanner (say, at [2,0,1]).
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