Add beam ID to LidarDetection #739
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Signed-off-by: ClemensLinnhoff <clemens.linnhoff@persival.de>
PhRosenberger
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Aug 22, 2023
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Reviewed for v3.7.0 |
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Added beam_id as an identifier to LidarDetection.
Now, individual detection points can be assigned to a lidar beam. This enables the identification of multiple returns in one beam and also aligns with the output of some real lidar sensors, e.g. Velodynes.
Take this checklist as orientation for yourself, if this PR is ready for the Change Control Board: