18.0.7

Abstract

• Use std::set for detected object list to ensure its uniqueness of each object
• Move primitive constraction process from Raycaster class to Raycaster::Entity struct
  • Raycaster::Entity::entity_status member will play a key role in organizing the later implementation of noise.
• Delete Raycaster::entities_ member to reduce internal states
• Add Raycaster::RaycastResult struct to handle raycast outputs

Background

This pull-request refactors Raycaster class for future point cloud noise implementation.

Details

References

Regression Test: OK

Destructive Changes

None

Known Limitations

None

Related Issues