Region of interest question

[cgp]

While setting the region of interest, the width/height goes up to 16, and even in the example it shows a call of

lc.setRegionOfInterest(new LaserCan.RegionOfInterest(8, 8, 16, 16));

But this implies that the center is at x=8,y=8, and that the width is 16 -- when there are only 16 receptors. Can I get clarification on what's going on here?

[rakosi2]

Yes, it is LaserCan.RegionOfInterest(x, y, w, h)
Sensor limitations say RoI must be rectangular and the minimum size is 4x4
A small RoI will cause maxium distance to decrease