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

cube1_setup

Cube1Setup

-

-

Use Cube 1 lidars to retrieve point clouds

qb2_setup

Qb2Setup

-

-

Use Qb2 lidars to retrieve point clouds

Cube1

Configuration for retrieving point clouds from a Cube 1

Table 2. Available fields in blickfeld.percept_pipeline.config.DataSource.Cube1
Field Type Default Unit

fqdn

string

-

-

The fully qualified domain name of the Cube 1

map_from_lidar

base.geometry.Transform

-

-

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.

Qb2

Configuration for retrieving point clouds from a Qb2

Table 3. Available fields in blickfeld.percept_pipeline.config.DataSource.Qb2
Field Type Default Unit

fqdn

string

-

-

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.

map_from_lidar

base.geometry.Transform

-

-

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.

Cube1 Setup

The configuration of a Cube 1 setup of the LiDAR devices

Table 4. Available fields in blickfeld.percept_pipeline.config.DataSource.Cube1Setup
Field Type Default Unit

lidars

repeated Cube1

-

-

Cube1 lidars to retrieve the point clouds from

enable_time_sync

bool

-

-

If true: The same NTP server needs to be configured for each device before starting. The lidar clock and and scan-patterns will be continously synchronized. Recommended in multi-sensor setups. If false: the lidar measurements are timestamps with the receive time by the system. The receive time is less accurate if the network is not reliable.

Qb2 Setup

The configuration of a Qb2 setup of the LiDAR devices

Table 5. Available fields in blickfeld.percept_pipeline.config.DataSource.Qb2Setup
Field Type Default Unit

lidars

repeated Qb2

-

-

the qb2 lidars to get the point clouds from