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* Added ARayCastSurfaceNormalLidar, which functions similarly to ARayCastLidar but additionally returns a vector representing the surface normal (nx, ny, nz) of the hit point, alongside the x, y, z, and intensity values. * Added accompanying implementation (serializer, measurement, etc.)
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MathysClaudel
approved these changes
May 23, 2025
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Description
Implemented surface normal LiDAR sensor, which in addition to the$(x, y, z)$ coordinates and intensity $i$ , also returns a surface normal $(nx, ny, nz)$ - a unit vector perpendicular to the surface at each point. Leveraging this sensor, we developed LiSu, a novel LiDAR surface normal dataset, which has been accepted at CVPR 2025. Below is an example of a point cloud with color-coded surface normals (additional examples can be found in the paper):
Fixes #3199
Where has this been tested?
This change is