potential bug in range computation about depthimage_to_laserscan HOT 2 CLOSED

@piyushk Yeah, I think you're right. No ones ever noticed since it's rarely used in wide-mode.

Here's the commited fix (released in 1.0.6):
0c76a0b

Here's the BEFORE top-down orthographic projection:

Here's the FIXED top-down orthographic projection:

from depthimage_to_laserscan.

The above screenshots were generated by setting the scan height to something large (like 471 pixels) and putting tall vertical obstacles (like a column or wall) along the bottom of the depthimage.

From the top-down othographic view, we want the laserscan to wrap the outline of all obstacles in this case. The top image clearly shows it inside of many obstacles. The bottom image shows it outlining the laptop and column.

from depthimage_to_laserscan.