When I visualize the map created using the depth observations in simulation from the iGibson Docker image and also the sim2real branch of iGibson setup, I see that the maps are most accurate if I take camera angle as zero instead of -20 as mentioned in Parameters.md. Is there something I am missing? Could you confirm if the camera angle in Simulation is zero or -20 degrees? Also I see the observation sizes are 160x90 in both sim and real compared to 320x180 in the Parameters file.
Thank you for your support throughout this challenge.