From 2df1af231824c454b2bfc9b56762a3d56d6c6309 Mon Sep 17 00:00:00 2001 From: "INNOVIZ\\markk" Date: Sun, 16 Sep 2018 22:50:20 +0300 Subject: [PATCH] raster_lidar_proposal: adding relevant fields to support generic lidar with custom raster osi_sensorviewconfiguration.proto: LidarSensorViewConfiguration - adding timings, directions and number of pixels for generic configuration of lidar scan raster in each frame. osi_featureddata.proto: LidarDetection - adding reflectivity as detected by sensor osi_sensorview.proto: LidarSensorView::Reflection - adding normal to surfance to be used for reflectivity calcuation (future use), and object id for easier debug --- .gitignore | 3 +++ osi_featuredata.proto | 4 ++++ osi_sensorview.proto | 16 ++++++++++++++++ osi_sensorviewconfiguration.proto | 21 +++++++++++++++++++++ 4 files changed, 44 insertions(+) diff --git a/.gitignore b/.gitignore index 019172fbd..de104d3fd 100644 --- a/.gitignore +++ b/.gitignore @@ -32,3 +32,6 @@ __pycache__/ proto2cpp.log .clang-format githooks/pre-commit + +# PyCharm specific files +.idea diff --git a/osi_featuredata.proto b/osi_featuredata.proto index 19ba5bb04..3db1a575c 100644 --- a/osi_featuredata.proto +++ b/osi_featuredata.proto @@ -310,6 +310,10 @@ message LidarDetection // Basic classification of the detection. // optional DetectionClassification classification = 9; + + // Lambertian reflectivity + // + optional double reflectivity = 10; } // diff --git a/osi_sensorview.proto b/osi_sensorview.proto index 95b966996..65a7e80c5 100644 --- a/osi_sensorview.proto +++ b/osi_sensorview.proto @@ -283,6 +283,22 @@ message LidarSensorView // Unit: [Hz] // optional double doppler_shift = 3; + + // normal to surface angle. + // + // The normal of the transmitted beam to the object, roadmarking etc encounter. + // \note data is in Lidar coordinate system + // + // Unit: [unit vector] + // + optional Vector3d normal_to_surface = 5; + + // ID of the detected object this reflection is associated to. + // can be used for raytracing debug + // + // \note ID = MAX(uint64) indicates no reference to an object. + optional Identifier object_id = 6; + } } diff --git a/osi_sensorviewconfiguration.proto b/osi_sensorviewconfiguration.proto index 2899f338b..4ceb70d3c 100644 --- a/osi_sensorviewconfiguration.proto +++ b/osi_sensorviewconfiguration.proto @@ -523,6 +523,27 @@ message LidarSensorViewConfiguration // // Unit: [Hz] optional double emitter_frequency = 9; + + // Number of pixels in frame. + // + // This field includes the number of pixels in each frame + // + optional uint32 num_of_pixels = 10; + + // Ray tracing data. + // + // The directions unit vectors describing the Lidar's raster transmission directions. + // Length is num_of_pixels + // \note data is in Lidar's coordinate system + // + repeated Vector3d directions = 11; + + // Ray tracing data. + // + // The time offset in microseconds of every measurement from each frame timestamp. + // Length is num_of_pixels + // + repeated uint32 timings = 12; } //