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

-

-

High-level state of module.

state_reason

string

-

-

Reason for the given state. It is not set if state is STATE_OK.

data_source

DataSource

-

-

Data source related health information.

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

-

-

Map of devices. The key is the serial number of the device.

camera

repeated CameraEntry

-

-

Map of cameras. The key is DataSource.Camera.serial_number.

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

-

-

The connection to the device has failed. This is most probably caused by power supply or network connectivity issues.

start_failed

bool

-

-

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

-

-

The point cloud fetch failed. This indicates that the device can not operate properly or network bandwidth / stability issues.

environmental_effects

bool

-

-

There are some environmental influences, e.g. fog, rain or snow in the scene.

firmware_mismatch

bool

-

-

The firmware version does not match the version running on this device. A version differing on patch level is allowed.

[NOTE] This flag is only set when swarm is enabled.

data_loss

bool

-

-

Data loss during stream synchronization occurred

[NOTE] This flag is only set when swarm is enabled.

Camera

Configured camera.

Table 5. Available fields in blickfeld.percept_pipeline.data.Health.DataSource.Camera
Field Type Default Unit

error_flags

ErrorFlags

-

-

Error flags

position

optional config.DataSource.Camera.Ptz.Position

-

-

Where the camera is pointing, for one that can pan, tilt and zoom.

Reflects moves made from anywhere - automatic tracking, a client driving it by hand, somebody at the camera’s own interface - so watching health is how a client follows a camera it is not itself driving. Left unset for a camera that cannot be aimed, or one that is not answering.

moving

bool

-

-

Whether the camera is moving right now, so a client can tell a position it has settled at from one it is passing through.

Error Flags

Error flags

Table 6. Available fields in blickfeld.percept_pipeline.data.Health.DataSource.Camera.ErrorFlags
Field Type Default Unit

connect_failed

bool

-

-

The connection to the camera has failed. This is most probably caused by power supply or network connectivity issues.

ptz_fault

bool

-

-

A pan/tilt/zoom move or position request failed.

stream_failed

bool

-

-

The camera’s video stream is not being received.

stream_unsupported

bool

-

-

The camera offers no encoder to stream from besides the one it records with.

Device Entry

Table 7. Available fields in blickfeld.percept_pipeline.data.Health.DataSource.DeviceEntry
Field Type Default Unit

key

string

-

-

value

Device

-

-

Camera Entry

Table 8. Available fields in blickfeld.percept_pipeline.data.Health.DataSource.CameraEntry
Field Type Default Unit

key

string

-

-

value

Camera

-

-

Statistics

Perception pipeline related statistics

Table 9. Available fields in blickfeld.percept_pipeline.data.Health.Statistics
Field Type Default Unit

security

Security

-

-

Security pipeline health

volume

Volume

-

-

Volume pipeline health

traffic

Traffic

-

-

Traffic pipeline health

Security

Security pipeline health

Table 10. Available fields in blickfeld.percept_pipeline.data.Health.Statistics.Security
Field Type Default Unit

motion_detection

MotionDetection

-

-

Motion detection

object_tracking

ObjectTracking

-

-

Object tracking

Motion Detection

Motion detection

Table 11. 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_outlier_points

float

-

-

Number of outlier points (number of points which got not clustered)

median_reflectivity_of_outlier_points

float

-

-

Median reflectivity of outlier points

adaptive_noise_filter_threshold

float

-

-

Reflectivity value used for adaptive noise filtering

number_of_adaptive_noise_outliers

float

-

-

Number of points that were removed by the adaptive noise filter

Object Tracking

Objects detection & tracking

Table 12. Available fields in blickfeld.percept_pipeline.data.Health.Statistics.Security.ObjectTracking
Field Type Default Unit

number_of_objects

float

-

-

indicates that objects are present

reference_properties

ReferenceProperties

-

-

reference object properties
Reference 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 13. Available fields in blickfeld.percept_pipeline.data.Health.Statistics.Security.ObjectTracking.ReferenceProperties
Field Type Default Unit

lifetime

float

-

ns

Lifetime of the object

num_points

float

-

-

/ Number of measurements that belong to the object point cloud.

median_reflectivity

float

-

-

/ Median reflectivity of the measurements from the object point cloud.

bounding_box_2d_surface

float

-

-

Surface area of the largest xz / yz bounding box plane. This is used for the simple object size classification.

track_length

float

-

m

The estimated track length of an object.

intruding_duration

float

-

-

Intruding duration of objects. Only objects are taken into account which are actually intruding.

Volume

Volume pipeline health

Traffic

Traffic pipeline health

Table 14. Available fields in blickfeld.percept_pipeline.data.Health.Statistics.Traffic
Field Type Default Unit

rain_filter_confidence

float

-

-

The confidence of the moving average filter that checks the traffic lane for rain