An optical system for collecting light from a scene, comprising: a single continuous transparent optic, a tertiary optic and a photosensor assembly comprising a plurality of pixels, the transparent optic comprising: a first main face; a second main face opposite to the first main face, wherein an optical volume is defined between the first main face and the second main face; and a first turning optic arranged on the second main face and configured to turn light from the scene entering the transparent optic through the first main face and admitted inside the optical volume and passing through the second main face, such that the light is internally reflected within the optical volume, wherein the first turning optic is configured to provide an added turn angle, for the admitted light passing through the second main face; wherein the first main face is a single continuous surface throughout the transparent optic and the second main face is a single continuous surface throughout the transparent optic, wherein the first turning optic includes an array of geometrical structures arranged on the second main face and external to the optical volume, such that, at each interaction with the second main face, the light passing through the second main face enters into at least one of the array of geometrical structures and is reflected by at least one face of the geometrical structure, such that the first turning optic imparts a cumulatively larger turn angle at every interaction of the light with the first turning optic, wherein the tertiary optic is configured to alter light that exits the optical volume through the side face to reach the photosensor assembly; wherein the optical system is configured to preserve angular relationships of incident light in a piece wise manner such that the spatial relationships of light from within at least a subset of the scene are preserved when the light reaches the photosensor assembly. a single continuous transparent optic, a tertiary optic and a photosensor assembly comprising a plurality of pixels, the transparent optic comprising: a first main face; a second main face opposite to the first main face, wherein an optical volume is defined between the first main face and the second main face; and a first main face; a second main face opposite to the first main face, wherein an optical volume is defined between the first main face and the second main face; and a first turning optic arranged on the second main face and configured to turn light from the scene entering the transparent optic through the first main face and admitted inside the optical volume and passing through the second main face, such that the light is internally reflected within the optical volume, wherein the first turning optic is configured to provide an added turn angle, for the admitted light passing through the second main face; wherein the first main face is a single continuous surface throughout the transparent optic and the second main face is a single continuous surface throughout the transparent optic, wherein the first turning optic includes an array of geometrical structures arranged on the second main face and external to the optical volume, such that, at each interaction with the second main face, the light passing through the second main face enters into at least one of the array of geometrical structures and is reflected by at least one face of the geometrical structure, such that the first turning optic imparts a cumulatively larger turn angle at every interaction of the light with the first turning optic, wherein the tertiary optic is configured to alter light that exits the optical volume through the side face to reach the photosensor assembly; wherein the optical system is configured to preserve angular relationships of incident light in a piece wise manner such that the spatial relationships of light from within at least a subset of the scene are preserved when the light reaches the photosensor assembly.