Protobuf definitions¶
This is the documentation of the protobuf messages used by the Blickfeld API.
These protobuf messages are used to communicate with Blickfeld devices. You can send requests and receive responses. The corresponding response to a request has the same name. It is also possible to request a point cloud stream or a status stream.
The data, such as a point cloud, are also packed in protobuf messages.
Table of Contents¶
blickfeld/common.proto¶
blickfeld/connection.proto¶
Request¶
This section describes the different requests a client can send to the server. A request is always answered with a response. For every response, there is a request with the same name.
| Field | Type | Label | Description |
|---|---|---|---|
| hello | Request.Hello | optional | Refer to Request.Hello |
| developer | Request.Developer | optional | Refer to Request.Developer |
| set_scan_pattern | Request.SetScanPattern | optional | Refer to Request.SetScanPattern |
| fill_scan_pattern | Request.FillScanPattern | optional | Refer to Request.FillScanPattern |
| get_scan_pattern | Request.GetScanPattern | optional | Refer to Request.GetScanPattern |
| subscribe | stream.Subscribe | optional | Refer to Subscribe |
| status | Request.Status | optional | Refer to Request.Status |
| run_self_test | Request.RunSelfTest | optional | Refer to Request.RunSelfTest |
| set_advanced_config | Request.SetAdvancedConfig | optional | Introduced in BSL v2.11 and firmware v1.11Refer to Request.SetAdvancedConfig |
| get_advanced_config | Request.GetAdvancedConfig | optional | Introduced in BSL v2.11 and firmware v1.11Refer to Request.GetAdvancedConfig |
| _asJSON | string | optional | Internal use only |
| accept_format | Format | optional | Internal use only Default: PROTOBUF |
Request.FillScanPattern¶
This request is used to fill an empty or partially filled scan pattern with the required parameters. It will fill the given scan pattern with default values and return the filled scan pattern to the client. The filled scan pattern can then be set as input for Request.SetScanPattern.
| Field | Type | Label | Description |
|---|---|---|---|
| config | config.ScanPattern | optional | Refer to ScanPattern |
| legacy_config | config.ScanPattern | optional | Deprecated |
Request.GetAdvancedConfig¶
Introduced in BSL v2.11 and firmware v1.11
This request is used to retrieve the currently set Advanced.
Request.Hello¶
This request is used for initial communication after connecting to a device and testing the established connection.
| Field | Type | Label | Description |
|---|---|---|---|
| protocol_version | uint32 | optional | Version of the Blickfeld protocol |
Request.RunSelfTest¶
Introduced in BSL v2.10 and firmware v1.9
This request triggers a self test of the device. It validates the hardware, operates the device, and generates a report. The report is currently only accessible by developers.
Request.SetAdvancedConfig¶
Introduced in BSL v2.11 and firmware v1.11
This request is used for configuring the advanced config.
| Field | Type | Label | Description |
|---|---|---|---|
| config | config.Advanced | optional | Refer to Advanced |
| persist | bool | optional | Persists the config and sets it after a power cycle. Default: True Default: true |
Request.SetScanPattern¶
This request is used for configuring a Scan Pattern.
| Field | Type | Label | Description |
|---|---|---|---|
| config | config.ScanPattern | optional | Refer to ScanPattern |
| persist | bool | optional | Persists the scan pattern and sets it after a power cycle. Default: False Default: false |
| legacy_config | config.ScanPattern | optional | Deprecated old 'config' due to horizontal field of view definition |
Response¶
This section describes the responses a client receives after sending a request to the server. For the request that corresponds to a given response, please refer to Request. Each response has the same name as the request.
| Field | Type | Label | Description |
|---|---|---|---|
| timestamp_ns | uint64 | optional | Unit: [ns] - timestamp when the response is sent out |
| error | Error | optional | Refer to Error |
| hello | Response.Hello | optional | Refer to Response.Hello |
| developer | Response.Developer | optional | Refer to Response.Developer |
| set_scan_pattern | Response.SetScanPattern | optional | Refer to Response.SetScanPattern |
| fill_scan_pattern | Response.FillScanPattern | optional | Refer to Response.FillScanPattern |
| get_scan_pattern | Response.GetScanPattern | optional | Refer to Response.GetScanPattern |
| event | stream.Event | optional | Refer to Event |
| status | Status | optional | Refer to Response.Status |
| run_self_test | Response.RunSelfTest | optional | Refer to Response.RunSelfTest |
| set_advanced_config | Response.SetAdvancedConfig | optional | Introduced in BSL v2.11 and firmware v1.11Refer to Response.SetAdvanced |
| get_advanced_config | Response.GetAdvancedConfig | optional | Introduced in BSL v2.11 and firmware v1.11Refer to Response.GetAdvanced |
| _asJSON | string | optional | Internal use only |
Response.FillScanPattern¶
This response is given after a request to fill a sparse ScanPattern has been transmitted. It returns a scan pattern, the unset fields are filled with default values.
| Field | Type | Label | Description |
|---|---|---|---|
| config | config.ScanPattern | optional | Refer to ScanPattern |
| legacy_config | config.ScanPattern | optional | Deprecated |
Response.GetAdvancedConfig¶
Introduced in BSL v2.11 and firmware v1.11
This response is returned after a request to get the current Advanced.
| Field | Type | Label | Description |
|---|---|---|---|
| config | config.Advanced | optional | Refer to Advanced |
Response.GetScanPattern¶
This response is returned after a request to get the current ScanPattern.
| Field | Type | Label | Description |
|---|---|---|---|
| config | config.ScanPattern | optional | Refer to ScanPattern |
| legacy_config | config.ScanPattern | optional | Deprecated |
Response.Hello¶
This response is sent out after establishing a connection.
| Field | Type | Label | Description |
|---|---|---|---|
| protocol_version | uint32 | optional |
Response.RunSelfTest¶
Introduced in BSL v2.10 and firmware v1.9
This response is returned after a self test. The success flag indicates if the hardware is fully operational. The generated report is currently only accessible by developers.
| Field | Type | Label | Description |
|---|---|---|---|
| success | bool | optional |
Response.SetAdvancedConfig¶
Introduced in BSL v2.11 and firmware v1.11
This response is sent out after setting an SetAdvancedConfig.
blickfeld/error.proto¶
Error¶
| Field | Type | Label | Description |
|---|---|---|---|
| unknown | Error.Unknown | optional | Refer to Unknown |
| not_implemented | Error.NotImplemented | optional | Refer to NotImplemented |
| empty | Error.Empty | optional | Refer to Empty |
| server_implementation | Error.ServerImplementation | optional | Refer to ServerImplementation |
| invalid_request | Error.InvalidRequest | optional | Refer to InvalidRequest |
| connection_closed | Error.ConnectionClosed | optional | Refer to ConnectionClosed |
| outdated_server_protocol | Error.OutdatedServerProtocol | optional | Refer to OutdatedServerProtocol |
| outdated_client_protocol | Error.OutdatedClientProtocol | optional | Refer to OutdatedClientProtocol |
| scanner_busy | Error.ScannerBusy | optional | Refer to ScannerBusy |
| wrong_operation_mode | Error.WrongOperationMode | optional | Refer to WrongOperationMode |
| not_allowed | Error.NotAllowed | optional | Refer to NotAllowed |
| hardware_error | Error.HardwareError | optional | Refer to HardwareError |
| system_stop | Error.SystemStop | optional | Refer to SystemStop |
| not_found | Error.NotFound | optional | Refer to NotFound |
| unknown_error_code | Error.UnknownErrorCode | optional | Refer to UnknownErrorCode |
| not_in_range | Error.NotInRange | optional | Refer to NotInRange |
| time_sync_failed | Error.TimeSyncFailed | optional | Refer to TimeSyncFailed |
| no_device_discovered | Error.NoDeviceDiscovered | optional | Refer to NoDeviceDiscovered |
Error.HardwareError¶
The device is in an error state and cannot be operated. Attempt to power-cycle the device or use diagnostic software to read out the hardware state.
Error.InvalidRequest¶
Validation of the sent request failed, please send a request with-in a valid range.
| Field | Type | Label | Description |
|---|---|---|---|
| validation_error | string | optional | Validation error string |
Error.NoDeviceDiscovered¶
No device has been discovered. Check the network connection and power supply of the device. The ‘discover’ requests may have been blocked by a local or a network firewall.
Error.NotImplemented¶
The firmware on the device is not compatible with the BSL version. Update the device or downgrade the BSL.
Error.NotInRange¶
The requested parameter is not within the valid range.
| Field | Type | Label | Description |
|---|---|---|---|
| parameter | string | optional | The parameter, which was not in range |
| minimum | float | optional | Minimum value of the parameter |
| maximum | float | optional | Maximum value of the parameter |
| requested | float | optional | Requested value of the parameter |
| unit | string | optional | Unit of the parameter |
Error.OutdatedClientProtocol¶
The protocol of the server is too new. Please update the client software.
| Field | Type | Label | Description |
|---|---|---|---|
| required_version | uint32 | optional | Version that is required |
Error.OutdatedServerProtocol¶
The protocol of the client is too new. Please update the device.
| Field | Type | Label | Description |
|---|---|---|---|
| required_version | uint32 | optional | Version that is required |
Error.SystemStop¶
The device stopped unexpectedly and can no longer be operated. Attempt to power cycle the device or use diagnostic software to read-out the hardware state.
Error.TimeSyncFailed¶
The time synchronization failed. The NTP daemon failed or timed out.
| Field | Type | Label | Description |
|---|---|---|---|
| ntp_daemon_log | string | optional | Log of the NTP daemon |
Error.Unknown¶
Unknown error. Please consult the Blickfeld support team for further information.
| Field | Type | Label | Description |
|---|---|---|---|
| description | string | optional | Description of the unknown error |
blickfeld/options.proto¶
File-level Extensions¶
| Extension | Type | Base | Number | Description |
| ——— | —- | —- | —— | ———– |
| allow_sparse | bool | .google.protobuf.FieldOptions | 50007 | Default: false |
| d_max | double | .google.protobuf.FieldOptions | 50001 | Default: inf |
| d_min | double | .google.protobuf.FieldOptions | 50000 | Default: -inf |
| i_max | uint64 | .google.protobuf.FieldOptions | 50003 | Default: 18446744073709551615 |
| i_min | sint64 | .google.protobuf.FieldOptions | 50002 | Default: -9223372036854775808 |
| legacy_field_id | uint64 | .google.protobuf.FieldOptions | 50010 | |
| length | sint32 | .google.protobuf.FieldOptions | 50004 | Default: 2147483647 |
| max_length | sint32 | .google.protobuf.FieldOptions | 50009 | Default: 2147483647 |
| min_length | sint32 | .google.protobuf.FieldOptions | 50008 | Default: 0 |
| optional | bool | .google.protobuf.FieldOptions | 50006 | Default: false |
| regex | string | .google.protobuf.FieldOptions | 50005 | Default: .* |
| e_desc | string | .google.protobuf.MessageOptions | 60000 | Error description Default: No additional error description available. |
| generate | config.Generate | .google.protobuf.MessageOptions | 60003 | |
| help | string | .google.protobuf.MessageOptions | 60001 | Help description |
| secure | config.Secure | .google.protobuf.MessageOptions | 60002 | |
| optional_one_of | bool | .google.protobuf.OneofOptions | 50006 | Default: false |
blickfeld/config/advanced.proto¶
Advanced¶
Introduced in BSL v2.11 and firmware v1.11
Expert parameters: It is not recommended to adapt this calibrated configuration without understanding the influences on the resulting point cloud quality.
The current set of parameters is preliminary, additional parameters may be added or may get obsolete in the future.
| Field | Type | Label | Description |
|---|---|---|---|
| detector | Advanced.Detector | optional | Refer to Detector |
Advanced.Detector¶
The behavior of the detector can be adjusted to improve the performance under extreme environmental conditions, e.g. static setup with strong daylight or basement rooms without daylight.
| Field | Type | Label | Description |
|---|---|---|---|
| sensitivity | float | optional | Relatively influences the sensitivity of the detector. Higher values might also result into range loss. It is recommended to validate the noise filter parameters after changes to this setting. Default: 1 |
blickfeld/config/generate.proto¶
blickfeld/config/scan_pattern.proto¶
ScanPattern¶
The scan pattern defines the movement of the mirrors. The key parameters of the pattern are the horizontal and vertical fields of view (FoV) as well as the number of scan lines per frame. The frame rate is defined by the total number of scan lines and the oscillation frequency of the mirrors which is fixed and device-spcific.
For a more detailed explanation, see: Scan Pattern documentation
| Field | Type | Label | Description |
|---|---|---|---|
| horizontal | ScanPattern.Horizontal | optional | Refer to ScanPattern.Horizontal |
| vertical | ScanPattern.Vertical | optional | Refer to ScanPattern.Vertical |
| pulse | ScanPattern.Pulse | optional | Refer to ScanPattern.Pulse |
| frame_rate | ScanPattern.FrameRate | optional | Refer to ScanPattern.FrameRate |
| filter | ScanPattern.Filter | optional | Introduced in BSL v2.11 and firmware v1.11Refer to Filter |
ScanPattern.Filter¶
Introduced in BSL v2.10 and firmware v1.9
Filter points and returns by point attributes during the post-processing on the device. This can be used to e.g. filter points with low intensity or to enable secondary returns.
| Field | Type | Label | Description |
|---|---|---|---|
| max_number_of_returns_per_point | uint32 | optional | Set maximum number of returns per point. By default, secondary returns are disabled. Set this, e.g. to 2, to enable secondary returns. Default: 1 |
| intensity | blickfeld.protocol.OptionalValueRange | optional | Filter all points, which intensity values are not within this value range. |
| ambient_light_level | blickfeld.protocol.OptionalValueRange | optional | Filter all points, which ambient light level values are not within this value range. |
| range | blickfeld.protocol.OptionalValueRange | optional | Filter all points, which range values are not within this value range. |
| noise | ScanPattern.Filter.Noise | optional | Introduced in BSL v2.11 and firmware v1.11Refer to Filter.Noise |
ScanPattern.Filter.Noise¶
Introduced in BSL v2.11 and firmware v1.11
This is a preliminary interface to control the noise filter on the device. All points, which have a lower intensity than the minimum intensity calculated by this filter will be filtered out. The formula is: minimum_intensity = offset + gain * point.ambient_light_level, where the point.ambient_light_level is the ambient light level of the point the laser shoots at.
| Field | Type | Label | Description |
|---|---|---|---|
| offset | uint32 | optional | Can be seen as minimum intensity filter, if there is no ambient light. |
| gain | float | optional | The gain will be multiplied with the ambient light level of the point the laser shoots at. |
ScanPattern.FrameRate¶
This section defines the target frame rate for synchronization between several LiDAR devices. The feature is described in the Time synchronization documentation.
| Field | Type | Label | Description |
|---|---|---|---|
| target | double | optional | Target frame rate during synchronization between several LiDAR devices |
| maximum | double | optional | Read-only parameter for maximum achievable frame rate. |
| reference_time_offset | double | optional | In [s]. Adds a constant value to the Unix reference time, starting from 00:00:00 UTC on January 1, 1970. It can be used to compensate delays or to interleave LiDAR devices. Default: 0 Default: 0 |
ScanPattern.Horizontal¶
This section defines the movement of the horizontal mirror. The mirror moves continuously with its own frequency. Each half-oscillation period of the mirror results in one scan line.
| Field | Type | Label | Description |
|---|---|---|---|
| fov | float | optional | Unit: [rad] – optical field of view of the horizontal mirror. Note: In v2.2* and below, this was defined as a mechanical FoV. |
ScanPattern.Pulse¶
This section defines the pattern in which the laser pulses and captures sample points
| Field | Type | Label | Description |
|---|---|---|---|
| angle_spacing | float | optional | Unit: [rad] – this defines the angle within which the horizontal mirror moves between two laser pulses. This parameter therefore defines the horizontal sampling resolution. |
| type | ScanPattern.Pulse.Type | optional | Refer to ScanPattern.Pulse.Type Default: INTERLEAVE |
| frame_mode | ScanPattern.Pulse.FrameMode | optional | Refer to ScanPattern.Pulse.FrameMode Default: COMBINE_UP_DOWN |
| distortion_correction | bool | optional | This parameter defines whether the distortion correction is applied when calculating the laser pulse angles. Default: True Default: true |
ScanPattern.Vertical¶
This section defines the movement of the vertical mirror within one frame. The mirror moves for from 0 degrees to the configured target FoV (up-ramping phase) and back to 0 degrees (down-ramping phase) with its eigenfrequency. The number of scanlines for each phase can be configured. Due to the dynamics of the mirror, a certain number of scan lines are required to reach the target FoV and then to reach 0 degrees again. Consequently, if the limit is reached, a lower number of scan lines requires a reduced FoV. Thus, a higher number of scan lines allows a larger vertical FoV. The vertical FoV is limited by the optical components.
Note: Due to the time required for one scan line, the rounded even number of scan lines directly scales inverse proportionally with65t the frame rate.
For a more detailed explanation, see: Scan Pattern documentation
| Field | Type | Label | Description |
|---|---|---|---|
| fov | float | optional | Unit: [rad] – FoV in the center of the frame. Due to the eye shape of the scan pattern, the vertical FoV decreases the outer boundaries of the horizontal mirror. |
| scanlines_up | uint32 | optional | Configures the number of scan lines required for the up-ramping phase. During the up-ramping phase, the vertical mirror increases its amplitude from 0 degrees to the target FoV. Default: 200 Default: 40 |
| scanlines_down | uint32 | optional | Configures the amount of scan lines required for the down-ramping phase. During the down-ramping phase, the vertical mirror decreases its amplitude from the target FoV to 0 degrees. Default: 30 Default: 40 |
ScanPattern.Pulse.FrameMode¶
Because of the mirrors oscillating and the resulting Lissajous curve, it is not possible to pulse in a completely arbitrary pattern. A frame always starts with a phase in which the vertical mirror increases its amplitude (up-ramping). It is followed by a second phase, in which it decreases its amplitude until it no longer moves (down-ramping). It is possible to pulse in both phases. There are four different options to pulse:
| Name | Number | Description |
|---|---|---|
| NONE | 0 | |
| COMBINE_UP_DOWN | 1 | The device pulses in the up-ramping and down-ramping phases and one frame is created by combining the resulting sample points. |
| ONLY_UP | 2 | The device pulses in the up-ramping phase and does not pulse in the down-ramping phase. |
| ONLY_DOWN | 3 | The device is does not pulse in the up-ramping phase and pulses in the down-ramping phase. |
| SEPARATE | 4 | The device pulses in the up-ramping and down-ramping phases and one frame for each phase is created. |
ScanPattern.Pulse.Type¶
The device pulses depending on the mirror positioning. Currently, only pulse triggering on the horizontal angle is supported. The laser pulses are emittet with the configured angular spacing.
| Name | Number | Description |
|---|---|---|
| EQUI_HORIZONTAL_ANGLE | 0 | The laser is triggered depending on the horizontal angle of the laser beam with the configured angle spacing. |
| EQUI_DENSITY | 1 | Reserved for future use. Not yet supported. |
| CUSTOM | 2 | Internal feature for custom scan patterns |
| INTERLEAVE | 3 | The laser is triggered depending on the horizontal angle of the laser beam with the configured angle spacing. Scanlines are shifted by angle_spacing/4 with alternate directions. This doubles the horizontal density with the COMBINE_UP_DOWN FrameMode and efficiently uses the down-ramp phase in the inner horizontal FoV. |
blickfeld/config/secure.proto¶
Secure¶
| Field | Type | Label | Description |
|---|---|---|---|
| permissions | Secure.Permissions | repeated | |
| cert_type | Secure.CertType | optional | |
| version_major | uint32 | optional | |
| version_minor | uint32 | optional | |
| version_patch | uint32 | optional |
blickfeld/data/frame.proto¶
Frame¶
This section describes the contents of a point cloud frame.
| Field | Type | Label | Description |
|---|---|---|---|
| id | uint64 | optional | Incremental frame ID since startup of the device |
| scanlines | Scanline | repeated | Refer to Scanline |
| start_time_ns | uint64 | optional | Unit: [s] – start frame timestamp |
| scan_pattern | blickfeld.protocol.config.ScanPattern | optional | Refer to ScanPattern |
| total_number_of_points | uint32 | optional | Number of laser pulses emitted in this frame. |
| total_number_of_returns | uint32 | optional | Number of returned points recorded: |
Each point of the total_number_of_points can produce several returns. |
blickfeld/data/point.proto¶
Point¶
This section describes the contents of a single point of a point cloud frame or scan line. Each point resembles a direction in which the laser has fired. From each point (direction) the device can receive several responses/returns, see Point.Return.
| Field | Type | Label | Description |
|---|---|---|---|
| id | uint32 | optional | Point ID in the corresponding frame |
| returns | Point.Return | repeated | Refer to Point.Return |
| start_offset_ns | uint64 | optional | Unit: [ns] - starting time of the point in relation to Frame.start_time_ns |
| ambient_light_level | uint32 | optional | Ambient light level in the direction of the point |
| direction | Point.Direction | optional | Refer to Point.Direction |
| channel_id | uint32 | optional | ID of the channel that detected the point |
| error_flags | Point.ErrorFlag | repeated | Refer to Point.ErrorFlag |
Point.Direction¶
This section describes the direction and the origin of a point. Use these polar coordinates combined with the range information of a given return, if you want to locate the reflection in the spherical coordinatesystem.
| Field | Type | Label | Description |
|---|---|---|---|
| azimuth | float | optional | Unit: [rad] - azimuth angle: Angle with respect to y-z plane |
| elevation | float | optional | Unit: [rad] - elevation angle: Angle with respect to x-y plane |
| origin | float | repeated | Unit: [m] - origin of the laser beam [x,y,z] |
Point.Return¶
This section describes the contents of a single return of a point, sorted by intensity. A return is created when the LiDAR detects the laser light of the reflection of an object.
| Field | Type | Label | Description |
|---|---|---|---|
| id | uint32 | optional | ID of the return in the point |
| cartesian | float | repeated | Unit: [m] – Cartesian coordinates of the target [x,y,z] |
| range | float | optional | Unit: [m] – distance of target to the origin |
| intensity | uint32 | optional | Intensity of the returned laser pulse |
Point.ErrorFlag¶
Error flag indicating why a point delivers no valid returns. If a flag is set, the point should not be interpreted neither processed. Flags are only set temporarily for a short period of time. If the error state does not recover, the device will stop operation.
| Name | Number | Description |
|---|---|---|
| E_VIBRATION_THRESHOLD_EXCEEDED | 1 | The environmental vibration threshold was exceeded. This should not happen in normal operation. |
blickfeld/data/point_cloud.proto¶
PointCloud¶
A point cloud object can contain either a full frame or a single scan line.
| Field | Type | Label | Description |
|---|---|---|---|
| header | PointCloud.Header | optional | Refer to PointCloud.Header |
| frame | Frame | optional | Refer to Frame |
| scanline | Scanline | optional | Refer to Scanline |
PointCloud.Header¶
This section describes the contents of a point cloud header.
| Field | Type | Label | Description |
|---|---|---|---|
| legacy_cube_serial_number | string | optional | Legacy serial number of the device which recorded the pointcloud |
| cube_serial_number | string | optional | Serial number of the device which recorded the pointcloud |
| start_time_ns | uint64 | optional | Unit: [s] - Start timestamp of the requested pointcloud stream |
| firmware_version | string | optional | Firmware version of the device which recorded the pointcloud |
| hardware_variant | blickfeld.protocol.update.HardwareVariant | optional | Hardware variant of the device which recorded the pointcloud |
blickfeld/data/scanline.proto¶
Scanline¶
This section describes the contents of a single scan line in a point cloud frame.
| Field | Type | Label | Description |
|---|---|---|---|
| id | uint64 | optional | Scan line ID in the corresponding frame |
| frame_id | uint64 | optional | Frame ID of the corresponding frame |
| points | Point | repeated | Refer to Point |
| start_offset_ns | uint64 | optional | Unit: [ns] - start time of the scanline in relation to Frame.start_time_ns |
blickfeld/file/general.proto¶
Client¶
| Field | Type | Label | Description |
|---|---|---|---|
| library_version | string | optional | Library version |
| file_time_ns | uint64 | optional | Unit: [ns] - File time stamp |
| language | Client.Language | optional | Used library language for file creation |
blickfeld/file/point_cloud.proto¶
PointCloud¶
This section describes the contents of a point cloud. The first message in a Blickfeld protobuf pointcloud should always be the PointCloud.Header message followed by PointCloud.Data messages.
PointCloud.Data¶
| Field | Type | Label | Description |
|---|---|---|---|
| frame | blickfeld.protocol.data.Frame | optional | Refer to PointCloud |
| footer | PointCloud.Footer | optional |
PointCloud.Header¶
| Field | Type | Label | Description |
|---|---|---|---|
| device | blickfeld.protocol.data.PointCloud.Header | optional | Refer to PointCloud.Header |
| client | Client | optional |
PointCloud.Metadata¶
| Field | Type | Label | Description |
|---|---|---|---|
| header | PointCloud.Header | optional | |
| footer | PointCloud.Footer | optional |
blickfeld/status/main.proto¶
Status¶
This section contains the status messages of the two deflection mirrors and the temperature sensors in the device.
| Field | Type | Label | Description |
|---|---|---|---|
| scanner | status.Scanner | optional | Refer to Scanner |
| temperatures | status.Temperature | repeated | Refer to Temperature |
blickfeld/status/scanner.proto¶
Scanner¶
This section defines the status of the device.
| Field | Type | Label | Description |
|---|---|---|---|
| state | Scanner.State | optional | Refer to Scanner.State |
| scan_pattern | blickfeld.protocol.config.ScanPattern | optional | Refer to ScanPattern |
| error | blickfeld.protocol.Error | optional | Refer to Error |
| legacy_scan_pattern | blickfeld.protocol.config.ScanPattern | optional | Deprecated old ´scan_pattern´ definition |
Scanner.State¶
| Name | Number | Description |
|---|---|---|
| INITIALIZING | 1 | Device is initializing the hardware. |
| READY | 2 | Device is ready to start and no error occurred. |
| STARTING | 3 | Device is starting a point cloud recording, but is not yet recording. |
| RUNNING | 4 | Device is recording a point cloud. |
| STOPPING | 5 | Device stops point cloud recording; it is no longer recording. |
| ERRORED | 6 | Device is in an error state; it can no longer operate. |
| SELF_TESTING | 7 | Device is testing the hardware. |
blickfeld/status/temperature.proto¶
Temperature¶
This section describes the temperature of the hardware modules in the device.
| Field | Type | Label | Description |
|---|---|---|---|
| sensor | Temperature.Sensor | optional | Refer to Temperature.Sensor |
| value | float | optional | Unit: [degrees Celsius] – temperature value of the module. |
| failed_reason | string | optional | Error reason why the temperature cannot be read out. |
Temperature.Sensor¶
This section describes the hardware modules in the device.
| Name | Number | Description |
|---|---|---|
| UNKNOWN | 0 | |
| LDM | 1 | Laser and detector module |
| ETHERNET | 2 | Ethernet adapter |
| MSB | 3 | Mixed signal board |
| PL | 4 | Programmable logic |
| PS | 5 | Processing system |
| SCANNER_SMALL | 6 | Vertical mirror |
| SCANNER_BIG | 7 | Horizontal mirror |
blickfeld/stream/connection.proto¶
Event¶
This section describes the events of streams.
| Field | Type | Label | Description |
|---|---|---|---|
| point_cloud | blickfeld.protocol.data.PointCloud | optional | Refer to PointCloud |
| status | blickfeld.protocol.Status | optional | Refer to Status |
| developer | Event.Developer | optional | Refer to Event.Developer |
Subscribe¶
This section describes the different streams to which it is possible to subscribe. A stream regularly provides data or status updates for the user. The events will not be pushed automatically to the BSL; the client has to retrieve them.
| Field | Type | Label | Description |
|---|---|---|---|
| point_cloud | Subscribe.PointCloud | optional | Refer to Subscribe.PointCloud |
| status | Subscribe.Status | optional | Refer to Subscribe.Status |
| developer | Subscribe.Developer | optional | Refer to Subscribe.Developer |
Subscribe.PointCloud¶
This request is used for subscribing to a point cloud stream.
| Field | Type | Label | Description |
|---|---|---|---|
| reference_frame | blickfeld.protocol.data.Frame | optional | Introduced in BSL v2.10 and firmware v1.9If present, only fields that are set in this message and submessages will be present in the point cloud. If less fields are requested, the Protobuf encoding and network transport time can reduce significantly. |
| filter | blickfeld.protocol.config.ScanPattern.Filter | optional | Introduced in BSL v2.10 and firmware v1.9Refer to ScanPattern.Filter. Overrides parameters of scan pattern. |
blickfeld/update/hardware.proto¶
partial_module_eeprom_msg¶
partial parse of {ldm,scanner,msb}_eeprom_msg
| Field | Type | Label | Description |
|---|---|---|---|
| hardware_version | string | optional |
partial_trenz_eeprom_msg¶
partial parse of trenz_eeprom_msg
| Field | Type | Label | Description |
|---|---|---|---|
| hardware_variant | HardwareVariant | optional |
blickfeld/update/manifest.proto¶
manifest_msg¶
| Field | Type | Label | Description |
|---|---|---|---|
| min_bus_version | string | optional | |
| image_type | manifest_msg.ImageType | optional | |
| compatible_hardware | manifest_msg.CompatibleHardware | optional | |
| secure | bool | optional | Default: false |
manifest_msg.CompatibleHardware¶
| Field | Type | Label | Description |
|---|---|---|---|
| variant | HardwareVariant | repeated | |
| msb | string | repeated | |
| scanner_big | string | repeated | |
| scanner_small | string | repeated | |
| hsd | string | repeated |
manifest_msg.ImageType¶
| Name | Number | Description |
|---|---|---|
| PARTITIONED | 0 | |
| SYSTEM | 1 |