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	-	-
cube1_setup	Use Cube 1 lidars to retrieve point clouds
qb2_setup	Qb2Setup	-	-
qb2_setup	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	-	-
fqdn	The fully qualified domain name of the Cube 1
map_from_lidar	base.geometry.Transform	-	-
map_from_lidar	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	-	-
fqdn	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	-	-
map_from_lidar	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	-	-
lidars	Cube1 lidars to retrieve the point clouds from
enable_time_sync	bool	-	-
enable_time_sync	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.

Trigger

Configuration of Trigger Mode. In trigger mode the processing pipeline will reduce the frequency at which point clouds and state lists are getting computed to reduce the amount of data transmitted between the processing device and configured 'lidars'.

Table 5. Available fields in blickfeld.percept_pipeline.config.DataSource.Trigger
Field	Type	Default	Unit
frequency	float	-	Hz
frequency	The frequency at which data is getting requested from the lidars and outputs are generated.

Qb2 Setup

The configuration of a Qb2 setup of the LiDAR devices

Table 6. Available fields in blickfeld.percept_pipeline.config.DataSource.Qb2Setup
Field	Type	Default	Unit
lidars	repeated Qb2	-	-
lidars	the qb2 lidars to get the point clouds from
trigger	optional Trigger	-	-
trigger	If the field is set trigger mode is enabled. If the field is not set, the pipeline outputs are computed with the frequency of configured lidars, i.e. the scan pattern configured on those.