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Make sure that your cloud is ordered sequentially - points[0] should correspond to the minimum-angle beam, and points[n-t] should be the maximum-angle beam.

You are getting a negative field of view (-27 deg), so that points to something wrong with the limits.

Make sure that your cloud is ordered sequentially - points[0] should correspond to the minimum-angle beam, and points[n-t] should be the maximum-angle beam.

You are getting a negative field of view (-27 deg), so that points to something wrong with the ~~limits.~~limits. How are you constructing the point cloud?

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