Zone Algorithm

An algorithm that monitors the area within and around a zone.

Table 1. Available fields in blickfeld.percept_pipeline.config.ZoneAlgorithm
Field	Type	Default	Unit
name	string	-	-
name	The user readable zone algorithm name
uuid	string	-	-
uuid	The uuid of the zone algorithm (uuid4)
shape	base.geometry.Shape	-	-
shape	Geometric shape (usually a Box) in which the algorithm detects certain behaviors/scenarios
metadata	optional google.protobuf.Struct	-	-
metadata	Arbitrary metadata storage for client applications
volume	Volume	-	-
volume	Run volume monitoring within the zone
security	Security	-	-
security	Run alarm detection within the zone
exclusion	Exclusion	-	-
exclusion	Run exclusion zone
object_based_security	ObjectBasedSecurity	-	-
object_based_security	Run object-based alarm detection within the zone

Volume

Algorithm that measure the volume of a zone

The volume of a zone is approximated by computing a 'volume map' from the input point clouds. The volume map discretize the zone into 'tiles' in the xy-plane with a side-length of 'resolution'. Each tile contains the height information about the points that fall into this tile. The volume of the volume map can be calculated by adding up the volumes of the tiles in the volume map.

Table 2. Available fields in blickfeld.percept_pipeline.config.ZoneAlgorithm.Volume
Field	Type	Default	Unit
resolution	float	-	m
resolution	Grid resolution per tile used to measure the volume. Reasonable default: 0.1
empty_volume	float	-	m^3
empty_volume	The measured volume while area covered by the zone is considered 'empty'. The value can be set using TareVolume method while the area of the zone is empty. Reasonable default: 0

Security

Algorithm that triggers an alarm if movement was detected in the zone

Table 3. Available fields in blickfeld.percept_pipeline.config.ZoneAlgorithm.Security
Field	Type	Default	Unit
min_points	uint32	-	-
min_points	Minimum number of (foreground) points in the security zone to trigger the alarm. Reasonable default: 10
max_points	uint32	-	-
max_points	Maximum number of (foreground) points in the security zone that still triggers an alarm. More points will disable the alarm. This logic can be disabled by setting max_points to '0'. Default: 0

Object Based Security

Algorithm that triggers an alarm when an object of one of the selected sizes is in the zone

Table 4. Available fields in blickfeld.percept_pipeline.config.ZoneAlgorithm.ObjectBasedSecurity
Field	Type	Default	Unit
alarm_sizes	repeated ObjectSize	-	-
alarm_sizes	Selection of sizes which trigger an alarm. Each size in the array will only trigger an alarm for the interval of that size.

Exclusion

Algorithm that excludes points from the input point cloud