Release v0.18.0 · RobotecAI/RobotecGPULidar

[0.18.0] 24 July 2024

Added radar object tracking feature
- Added API call to produce point cloud with radar objects
  - rgl_node_points_radar_track_objects
Added mechanism to simulate fault injection
- Added API call to mask groups of rays
  - rgl_node_raytrace_configure_mask
Added multi-return simulation
- Currently, this feature is limited to outputting a single return point cloud, but the user can select which return mode is simulated (first or last)
- Added API call to configure beam divergence
  - rgl_node_raytrace_configure_beam_divergence
- Added API call to switch between return modes:
  - rgl_node_multi_return_switch
Added new fields: RGL_FIELD_INTENSITY_U8 and RGL_FIELD_TIME_STAMP_U32
- These fields are duplicates of existing fields but are stored in other data types
Added default intensity configuration
- Added API call to configure default intensity
  - rgl_node_raytrace_configure_default_intensity
- Default intensity is considered when hitting entities with no intensity texture set

Renamed ROS2 field name for RGL_FIELD_RING_ID
- ring -> channel
Changed the content of time stamp fields (RGL_FIELD_TIME_STAMP_F64 and RGL_FIELD_TIME_STAMP_U32)
- Previously, it was time on the scene when the raytrace is triggered
- Now, it holds the time have passed since the time of the raytrace trigger when given point was measured
  - If velocity distortion is disabled, the time stamp for all points will be zero
Intensity value of the point is based on intensity texture of the entity and the incident angle
- The influence of the incident angle was added

Removed deprecated API call
- rgl_node_points_compact
- Please use rgl_node_points_compact_by_field instead