Here is the result of the fixed scanlines, all the blue lines are the scanlines of the rangefinder. The program will detect for objects along these scanlines.
These are the scanranges of the omnicam this is to avoid considering the black parts of the image(the corners and the center):
362-365 min pixel radius seems good with a 320 pixel center.
547 max pixel radius so 544 is good enough with a 320 pixel center.
These are some values for the pixel-meter formula I have no idea what to do with these right now:
Formula: r^2 / 0.2333 - z^2 / 1.1357 = -1
corresponds to
k = 11.546, c = 2.321
z-values have to be corrected by 1.161
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