State

A state transmits high-level information about the scene or setup. The information it contains depends on the configuration. States will get calculated on every frame of measurement.

Table 1. Available fields in blickfeld.percept_processing.data.State
Field	Type	Default	Unit
timestamp	google.protobuf.Timestamp	-	-
timestamp	Timestamp of the lidar frame in which the state was measured
generator_uuid	string	-	-
generator_uuid	The uuid of the entity generating this state
generator_name	string	-	-
generator_name	The name of the entity generating this state
security	Security	-	-
security	The security state contains intrusion information of a zone
volume	Volume	-	-
volume	Current volume measured in the selected zone

Security

A message containing an alarm state of a zone.

Table 2. Available fields in blickfeld.percept_processing.data.State.Security
Field	Type	Default	Unit
alarm	bool	-	-
alarm	If there is an alarm or not in the zone
num_detected_points	uint32	-	-
num_detected_points	The current number of lidar points detected in the zone

Volume

A message containing the volume state of a zone. This is based on one volume zone.

Table 3. Available fields in blickfeld.percept_processing.data.State.Volume
Field	Type	Default	Unit
volume	float	-	-
volume	The current volume of the zone
tiles	repeated VolumeTile	-	-
tiles	The tiles of the volume map The volume of a zone is approximated by a 'volume map' see Volume for more details. NOTE: For performance reasons this field is currently not filled.
tile_size	float	-	-
tile_size	The tile size of the volume map
shape	base.geometry.Shape	-	-
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)

Volume Tile

Message of a single volume tile

Table 4. Available fields in blickfeld.percept_processing.data.State.Volume.VolumeTile
Field	Type	Default	Unit
index_x	int32	-	-
index_x	Grid Map Tile Index X (can be negative and positive)
index_y	int32	-	-
index_y	Grid Map Tile Index Y (can be negative and positive)
heights	repeated float	-	-
heights	Height per cluster, ordered ascending
std_deviations	repeated float	-	-
std_deviations	Standard Deviation per cluster
number_points	repeated float	-	-
number_points	Points per cluster