Wrong Lidar Point Height when Tilt Angle is Non-Zero. about webots

[DavidMansolino]

Without tilt angle:

With a title angle of -0.2:

[DavidMansolino]

The bug is present only for spherical cameras.

[DavidMansolino]

I found the exact reason, the problem is at the merge_spherical shader level.
Indeed because of the spherical deformation, the wrong vertical pixel is selected, in case of lidars we should perform the deformation only horizontally but not vertically.

[DavidMansolino]

Tilting the camera doesn't seem to be a good idea, in case of spherical camera, it is really a mess if the cameras are tilted (sub-cameras border don't coincide anymore).
Instead of tilting the sub-cameras, it seems safer to create a bigger field of view and use only the interesting part (so that the orientation of all the sub-cameras is conserved), but this will require some re-factorization.