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.

Camera

A camera watching the scene alongside the lidars.

Its video is passed on to viewers and recorded with the events it saw. A camera that can pan, tilt and zoom is also aimed at them, once ptz says how; whether it can is asked of the camera itself.

Table 4. Available fields in blickfeld.percept_pipeline.config.DataSource.Camera
Field	Type	Default	Unit
serial_number	string	-	-
serial_number	Serial number of the camera, as the camera itself reports it. Named as the lidar names its own. Used to key camera health and video.
onvif	Onvif	-	-
onvif	Over ONVIF.
map_from_camera	optional base.geometry.Transform	-	-
map_from_camera	Transformation from the camera frame to the map frame, resolved from the WebGUI calibration wizard. If this transform is not set, it is interpreted as identity transformation.
ptz	optional Ptz	-	-
ptz	How to aim the camera, for one that can pan, tilt and zoom. Left unset the camera is not aimed: it is fixed, or not calibrated yet.
disabled	bool	-	-
disabled	Disable this camera, setting this flag to `true` stops any control and video capture for it.
metadata	optional google.protobuf.Struct	-	-
metadata	Arbitrary metadata storage for client applications

Onvif

How the device reaches a camera over ONVIF.

Table 5. Available fields in blickfeld.percept_pipeline.config.DataSource.Camera.Onvif
Field	Type	Default	Unit
fqdn	string	-	-
fqdn	The fully qualified domain name of the ONVIF device service. Unlike `Qb2.fqdn`, this is always required: there is no "current device" case for a camera.
port	optional uint32	-	-
port	The ONVIF device service port. If unset the default ONVIF port 80 is used.
username	optional string	-	-
username	ONVIF authentication username. An administrator’s login is used once, when it is stored: the device creates an Operator account of its own on the camera, and stores that account instead.
password	optional string	-	-
password	ONVIF authentication password. Write-only: it is never read back. A camera stored again with the same `username` and no password keeps the one it has.

Ptz

How a camera that can pan, tilt and zoom is aimed at a point of the map.

Table 6. Available fields in blickfeld.percept_pipeline.config.DataSource.Camera.Ptz
Field	Type	Default	Unit
calibration	Calibration	-	-
calibration	Calibration needed to turn a map-frame point into a pan/tilt/zoom command, resolved by the same client solve as `Camera.map_from_camera`. The correspondences it was solved from are the client’s: the device aims by the answer and has no use for the workings, and a solve that only runs while somebody is calibrating does not belong on a device that has to keep a pipeline fed.
tracking	bool	-	-
tracking	Whether automatic tracking aims this camera at what the lidars are tracking. A camera with no `calibration` is not aimed whatever this says: there is nothing to turn a map-frame target into a pan/tilt/zoom command with.

Position

A pan/tilt/zoom position, in the camera’s own coordinate space.

Table 7. Available fields in blickfeld.percept_pipeline.config.DataSource.Camera.Ptz.Position
Field	Type	Default	Unit
pan	float	-	-
pan	Pan position.
tilt	float	-	-
tilt	Tilt position.
zoom	float	-	-
zoom	Zoom position.

Calibration

Calibration mapping a map-frame position to a pan/tilt/zoom command for a specific camera.

Table 8. Available fields in blickfeld.percept_pipeline.config.DataSource.Camera.Ptz.Calibration
Field	Type	Default	Unit
half_fov_at_zoom_0	optional float	-	rad
half_fov_at_zoom_0	Half the angular field of view the camera sees fully zoomed out, at zoom 0. With `half_fov_at_zoom_1` this is the range a zoom command interpolates across.
half_fov_at_zoom_1	optional float	-	rad
half_fov_at_zoom_1	Half the angular field of view the camera sees fully zoomed in, at zoom 1. Must be smaller than `half_fov_at_zoom_0`. A camera missing either is left fully zoomed out.
pan_offset	optional float	-	rad
pan_offset	Pan offset between the camera’s zero position and the map frame, applied before `pan_scale` converts the angle into the camera’s own units.
tilt_offset	optional float	-	rad
tilt_offset	Tilt offset between the camera’s zero position and the map frame, applied before `tilt_scale` converts the angle into the camera’s own units.
invert_pan	bool	-	-
invert_pan	Invert the pan axis direction.
invert_tilt	bool	-	-
invert_tilt	Invert the tilt axis direction.
pan_scale	optional float	-	-
pan_scale	Pan units the camera reports and accepts per radian of rotation. A camera whose normalised space spans -1..1 over a full turn has a `pan_scale` of 1/pi; one that works in degrees has 180/pi. Defaults to 1, meaning the camera’s units are radians.
tilt_scale	optional float	-	-
tilt_scale	Tilt units the camera reports and accepts per radian of rotation, the tilt-axis counterpart of `pan_scale`. Defaults to 1, meaning the camera’s units are radians.

Qb2 Setup

The configuration of a Qb2 setup of the LiDAR devices

Table 9. 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
cameras	repeated Camera	-	-
cameras	Cameras watching the scene alongside the lidars above. A camera is not a point cloud source and does not participate in swarm synchronization or data fusion; it is a consumer of the tracking output. Whether a camera is aimed automatically is its own `tracking` flag.
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 10. 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: 1 second)
metadata	optional google.protobuf.Struct	-	-
metadata	Arbitrary metadata storage for client applications