Volume Map

A message containing the volume map of one volume zone.

Table 1. Available fields in blickfeld.percept_processing.data.VolumeMap
Field Type Default Unit

timestamp

uint64

-

ns

Timestamp of the lidar frame in which the volume map was calculated

generator_uuid

string

-

-

The uuid of the entity generating this state

generator_name

string

-

-

The name of the entity generating this state

shape

base.geometry.Shape

-

-

The shape of the volume map, defining the pose and the dimension of the volume map in world frame. The shape is similar to the shape of the input zone with the following difference: - shape.pose.position: (x=zone.pose.position.x, y=zone.pose.position.y, z=0) - shape.pose.rotation: (roll=0, pitch=0, yaw=zone.pose.rotation.yaw) - shape.box.dimension: (x=zone.box.dimension.x, y=zone.box.dimension.y,z=0)

tiles

Tiles

-

-

Volume map 'tiles' as defined in Tiles, providing information for each tile in the volume map.

tile_size

float

-

m

The tile size of the volume map (dimension of one tile in x and y direction)

volume

float

-

m^3

The current volume of the zone

Tiles

Tiles of the volume map

Table 2. Available fields in blickfeld.percept_processing.data.VolumeMap.Tiles
Field Type Default Unit

length

uint32

-

-

Number of tiles

index

bytes

-

-

Volume Map Tile Index X (Int16) and Y (Int16) (can be negative and positive) The indices of Volume Tiles are expressed w.r.t the Volume Map coordinate system. The tile with index (0,0) will contain the points from [0, tile_size), [0, tile_size). That means that (0,0,0) of the Volume Map frame does not coincide with the center of the tile with index (0,0) but with the crossing of the 4 tiles [(0,0), (0, -1,), (-1,-1), (-1,0)]. Type: (Int16, Int16)

height

bytes

-

m

Height per tile, ordered ascending Type: Float32

std_deviation

optional bytes

-

-

Standard Deviation per tile Type: Float32

number_points

optional bytes

-

-

Number Points per tile Type: UInt16