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

Author: INNOVIZ\markk

.gitignore

@@ -32,3 +32,6 @@ __pycache__/
 proto2cpp.log
 .clang-format
 githooks/pre-commit
+
+# PyCharm specific files
+.idea

osi_featuredata.proto

@@ -310,6 +310,10 @@ message LidarDetection
     // Basic classification of the detection.
     //
     optional DetectionClassification classification = 9;
+
+    // Lambertian reflectivity
+    //
+    optional double reflectivity = 10;
 }
 
 //

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;
+
     }
 }
 

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;
 }
 
 //