About x-axis rotation in the seyond Robin W decoder

[otenim]

Target branch: feat/seyond

Observation

Hi, thanks for working on the new seyond package.

I tried a multi sensor setup with a FalconK (forward facing) and a RobinW (right facing) using nebula_seyond package and visualized the pcd using foxglove.
Then I found that only Robin W's points were rotated in 180 degrees around the x-axis (forward direction of the scan face).

Based on a quick look at the source code, only when lidar_model is RobinW, the signs of y & z values are flipped in the decode process:

• nebula/src/nebula_seyond/nebula_seyond_decoders/src/seyond_decoder.cpp

  Lines 673 to 674 in 3ab74f6

  	y = -y;
  	z = -z;

• nebula/src/nebula_seyond/nebula_seyond_decoders/src/seyond_decoder.cpp

  Lines 756 to 757 in 3ab74f6

  	y = -y;
  	z = -z;

In my local branch, I tried removing those lines and got all the points alined as expected w/o sign flipping.

Question

Is this flip intentional?

If it is not intentional, I'm happy to make a PR to fix this 👍

[drwnz]

Thanks @otenim ! It's not intentional, and I fixed this a while ago locally but forgot to push to remote. I'll push when I get home tonight - there are a couple of other small changes.

[otenim]

Thanks for a quick reply!
This is not urgent, so whenever you have time 🙏