I'm using the Simulation 3D Lidar block from Simulink and I noticed there is a problem with the z-coordinate of the data.
When doing the "Lidar SLAM in 3D Simulation" example the z-coordinate of some of the points are below the surface of the road.
The sensor is located at 1.57 meters above the ground so I would suspect the lowest point being -1.57 however there are plenty of point that are lower than that, with the lowest being around -3.
How is this possible if the ground is flat?
I also tested it in different scenes including the completely flat and empty "Open Surface" scene and in all the cases the z-coordinate seems wrong.