Sensor view should optionally include calculated obstruction values

[caspar-ai]

Describe the feature

A simulation system can often, by the nature of the information it already has available, calculate much more cheaply certain derived sensor data. Being able to pass this information downstream to other components to allow them to avoid expensive calculations is beneficial to the overall performance of a system.

In particular, how "visible" a ground truth object is fits this pattern. It would therefore be useful if OSI provided a way for those derived values to be passed around.

Describe the solution you would like

"Obstruction data" added as an optional field for each specific sensor view message (RadarSensorView, LidarSensorView, etc.).

Obstruction data includes at least occlusion and truncation data.

Describe alternatives you have considered

• It could be directly included in GroundTruth messages but the values need to be calculated per-sensor
• It could be included in SensorData but this is about raw sensor data rather than detections generated from the sensor

Describe the backwards compatibility

No issues with backwards compatibility, the new fields are optional.