Health

A health message that contains information about the pipeline status and the module itself.

Table 1. Available fields in blickfeld.percept_pipeline.data.Health
Field	Type	Default	Unit
state	base.data.Health.State	-	-
state	High-level state of module.
state_reason	string	-	-
state_reason	Reason for the given state. It is not set if state is STATE_OK.
data_source	DataSource	-	-
data_source	Data source related health information.
statistics	Statistics	-	-
statistics	Perception related health information.

Data Source

Data source related health.

Table 2. Available fields in blickfeld.percept_pipeline.data.Health.DataSource
Field	Type	Default	Unit
device	repeated DeviceEntry	-	-
device	Map of devices. The key is the serial number of the device.

Configured device.

Table 3. Available fields in blickfeld.percept_pipeline.data.Health.DataSource.Device
Field	Type	Default	Unit
error_flags	ErrorFlags	-	-
error_flags	Error flags

Error flags

Table 4. Available fields in blickfeld.percept_pipeline.data.Health.DataSource.Device.ErrorFlags
Field	Type	Default	Unit
connect_failed	bool	-	-
connect_failed	The connection to the device has failed. This is most probably caused by power supply or network connectivity issues.
start_failed	bool	-	-
start_failed	The start-up of the device failed. This indicates that the device can not operate properly. Please review the diagnostics information of the device.
point_cloud_fetch_failed	bool	-	-
point_cloud_fetch_failed	The point cloud fetch failed. This indicates that the device can not operate properly or network bandwidth / stability issues.
environmental_effects	bool	-	-
environmental_effects	There are some environmental influences, e.g. fog, rain or snow in the scene.

Table 5. Available fields in blickfeld.percept_pipeline.data.Health.DataSource.DeviceEntry
Field	Type	Default	Unit
key	string	-	-
value	Device	-	-

Perception pipeline related statistics

Table 6. Available fields in blickfeld.percept_pipeline.data.Health.Statistics
Field	Type	Default	Unit
security	Security	-	-
security	Security pipeline health
volume	Volume	-	-
volume	Volume pipeline health
traffic	Traffic	-	-
traffic	Traffic pipeline health

Security pipeline health

Table 7. Available fields in blickfeld.percept_pipeline.data.Health.Statistics.Security
Field	Type	Default	Unit
motion_detection	MotionDetection	-	-
motion_detection	Motion detection
object_tracking	ObjectTracking	-	-
object_tracking	Object tracking

Motion detection

Table 8. Available fields in blickfeld.percept_pipeline.data.Health.Statistics.Security.MotionDetection
Field	Type	Default	Unit
number_of_foreground_points	float	-	-
number_of_foreground_points	Number of foreground points
number_of_outlier_points	float	-	-
number_of_outlier_points	Number of outlier points (number of points which got not clustered)
median_reflectivity_of_outlier_points	float	-	-
median_reflectivity_of_outlier_points	Median reflectivity of outlier points (number of points which got not clustered)

Objects detection & tracking

Table 9. Available fields in blickfeld.percept_pipeline.data.Health.Statistics.Security.ObjectTracking
Field	Type	Default	Unit
number_of_objects	float	-	-
number_of_objects	indicates that objects are present
reference_properties	ReferenceProperties	-	-
reference_properties	reference object properties

Reference object properties which contain the 90% percentile of relevant object state values.

This data is used to generate long term statistics of object properties which allow the fine tuning of zone algorithm parameters.

Table 10. Available fields in blickfeld.percept_pipeline.data.Health.Statistics.Security.ObjectTracking.ReferenceProperties
Field	Type	Default	Unit
lifetime	float	-	ns
lifetime	Lifetime of the object
num_points	float	-	-
num_points	/ Number of measurements that belong to the object point cloud.
median_reflectivity	float	-	-
median_reflectivity	/ Median reflectivity of the measurements from the object point cloud.
bounding_box_2d_surface	float	-	-
bounding_box_2d_surface	Surface area of the largest xz / yz bounding box plane. This is used for the simple object size classification.
track_length	float	-	m
track_length	The estimated track length of an object.
intruding_duration	float	-	-
intruding_duration	Intruding duration of objects. Only objects are taken into account which are actually intruding.

Volume pipeline health

Traffic pipeline health

Table 11. Available fields in blickfeld.percept_pipeline.data.Health.Statistics.Traffic
Field	Type	Default	Unit
rain_filter_confidence	float	-	-
rain_filter_confidence	The confidence of the moving average filter that checks the traffic lane for rain