Data Source

The configuration storing the sources to retrieve the point cloud data for further processing.

Table 1. Available fields in blickfeld.percept_pipeline.config.DataSource
Field	Type	Default	Unit
qb2_setup	Qb2Setup	-	-
qb2_setup	Use Qb2 lidars to retrieve point clouds
geolocation_of_map	optional base.config.Geolocation	-	-
geolocation_of_map	Geolocation of data source. This references the map coordinate system of this data source to the world. Individual lidars are referenced to the map coordinate system via their `map_from_lidar` transform. [NOTE] If the map_from_lidar transform is not an identity transformation, this is not the geolocation of an individual sensor.
swarm	Swarm	-	-
swarm	Mode which enables configuration synchronization and distributed processing. Processing and synchronization is managed by a dedicated leader sensor. All processing-related configuration, e.g. scan pattern and perception parameters are synchronized from the leader sensor onto every follower sensor in the sensor setup. The object lists and foreground point clouds of all sensors are fused and processed on the leader sensor of the swarm. This will allow processing of object-based security zones and point-based security zones across the combined field of view.
allow_unavailable_lidars	bool	-	-
allow_unavailable_lidars	Allow that devices in the setup are temporarily not available or failed. Re-connection attempts are performed continuously. A warning with the list of unavailable sensors is raised. If all sensors are unavailable, the pipeline will fail.

Qb2

Configuration for retrieving point clouds from a Qb2

Table 2. Available fields in blickfeld.percept_pipeline.config.DataSource.Qb2
Field	Type	Default	Unit
fqdn	optional string	-	-
fqdn	The fully qualified domain name of the Qb2 device. For on-device processing/configuration, 'fqdn' can be set to an empty string to request the data of the current device.
port	optional uint32	-	-
port	The gRPC port of the Qb2 device. If unset the default gRPC ports 50051 (unencrypted) or 55551 (TLS) will be used.
map_from_lidar	optional base.geometry.Transform	-	-
map_from_lidar	Transformation from the lidar frame to the map frame. If this transform is not set, this will be interpreted as identify transformation. Transforming all point cloud topics into the map frame results in a globally consistent combined point cloud in map frame.
application_key	optional string	-	-
application_key	Application key with authorized access level. If set, the field serial_number has to be set as well. This field is required if user-management is enabled on externally connected devices.
serial_number	optional string	-	-
serial_number	Serial number. If set, the connection will be secured with TLS. This field is required if user-management is enabled on externally connected devices.
disabled	bool	-	-
disabled	Disable fetching data from this sensor, setting this flag to `true` disables the evaluation of the entire sensor point cloud
metadata	optional google.protobuf.Struct	-	-
metadata	Arbitrary metadata storage for client applications

Trigger

Configuration of Trigger Mode. In trigger mode the processing pipeline will reduce the frequency at which point clouds and state lists are getting computed to reduce the amount of data transmitted between the processing device and configured 'lidars'.

Table 3. Available fields in blickfeld.percept_pipeline.config.DataSource.Trigger
Field	Type	Default	Unit
frequency	float	-	Hz
frequency	The frequency at which data is getting requested from the lidars and outputs are generated.

Qb2 Setup

The configuration of a Qb2 setup of the LiDAR devices

Table 4. Available fields in blickfeld.percept_pipeline.config.DataSource.Qb2Setup
Field	Type	Default	Unit
lidars	repeated Qb2	-	-
lidars	the qb2 lidars to get the point clouds from
trigger	optional Trigger	-	-
trigger	If the field is set trigger mode is enabled. If the field is not set, the pipeline outputs are computed with the frequency of configured lidars, i.e. the scan pattern configured on those.

Swarm

Configuration options for Swarm mode

Table 5. Available fields in blickfeld.percept_pipeline.config.DataSource.Swarm
Field	Type	Default	Unit
leader	bool	-	-
leader	This device is the swarm leader.
follower	Qb2	-	-
follower	This device is managed by another device.
synchronization_delay	float	-	s
synchronization_delay	Maximum latency of the data fusion in swarm mode: after the leader’s own frame is ready for fusion, the leader waits at most this long for the matching data of all remote devices. Fusion is triggered immediately once all expected remote data has been received. (default: 0.25 seconds)
metadata	optional google.protobuf.Struct	-	-
metadata	Arbitrary metadata storage for client applications