Merge pull request #1 from MO-RISE/distance_and_orientation_fix

Distance and orientation FIX

README.md

@@ -1,7 +1,17 @@
 # crowsnest-processor-opendlv-radar
 
-A processing microservice within the crowsnest ecosystem which listens on `RadarDetectionReading`s from an OpenDLV session and converts and outputs these as "single level point clouds" with weights.
-
+A processing microservice within the crowsnest ecosystem which listens on `RadarDetectionReading`s from an OpenDLV session and converts and outputs these as "single level point clouds" with weights. 
+
+Output minimized example:  
+```
+{
+    "sent_at": "2023-02-14T13:37:38.326046+00:00", 
+    "message": 
+    {
+        "points": [[0.0, 0.0], [2.9296840530811576, 0.0044940825770061485], [5.859368106162315, 0.008988165154012297], ...] 
+    }
+}
+```
 
 ## Development setup
 To setup the development environment:
@@ -28,5 +38,6 @@ To run the tests:
 
     python -m pytest --verbose tests
 
+
 ## License
 Apache 2.0, see [LICENSE](./LICENSE)

main.py

@@ -125,7 +125,11 @@ def polar_to_cartesian(
     x = distances * np.cos(np.deg2rad(azimuth))  # pylint: disable=invalid-name
     y = distances * np.sin(np.deg2rad(azimuth))  # pylint: disable=invalid-name
 
-    points = np.column_stack((x, y))
+    # Distance correction (Do not know why...)
+    x = x*2
+    y = y*2
+
+    points = np.column_stack((y, x))
 
     return azimuth, points, weights