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raster_lidar_proposal: adding relevant fields to support generic lidar… #273

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Merged
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Sep 26, 2018
Merged

raster_lidar_proposal: adding relevant fields to support generic lidar… #273

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3 changes: 3 additions & 0 deletions .gitignore
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Expand Up @@ -32,3 +32,6 @@ __pycache__/
proto2cpp.log
.clang-format
githooks/pre-commit

# PyCharm specific files
.idea
4 changes: 4 additions & 0 deletions osi_featuredata.proto
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Expand Up @@ -310,6 +310,10 @@ message LidarDetection
// Basic classification of the detection.
//
optional DetectionClassification classification = 9;

// Lambertian reflectivity
//
optional double reflectivity = 10;
}

//
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16 changes: 16 additions & 0 deletions osi_sensorview.proto
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Expand Up @@ -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;

}
}

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21 changes: 21 additions & 0 deletions osi_sensorviewconfiguration.proto
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Expand Up @@ -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;
}

//
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