Service: Perception

This API is not yet officially released nor maintained.

The perception service allows getting, configuring and receiving updates of the perception configurations. Perception configurations specify the algorithms used for e.g. for background subtraction etc.

Table 1. Available methods
Method	Request	Response
Get	google.protobuf.Empty	PerceptionGetResponse
Set	PerceptionSetRequest	google.protobuf.Empty
Watch	google.protobuf.Empty	PerceptionWatchResponseStream
ResetBackground	PerceptionResetBackgroundRequest	google.protobuf.Empty
GetBackground	google.protobuf.Empty	PerceptionGetBackgroundResponse
SetBackground	PerceptionSetBackgroundRequest	google.protobuf.Empty

Get

Get current perception configuration

Response

Response containing the current perception configuration

Table 2. Available fields in blickfeld.percept_pipeline.services.PerceptionGetResponse
Field	Type	Default	Unit
perception	config.Perception	-	-
perception	The current perception configuration

Set

Set the perception configuration

Request

Request for setting the perception configuration

Table 3. Available fields in blickfeld.percept_pipeline.services.PerceptionSetRequest
Field	Type	Default	Unit
perception	config.Perception	-	-
perception	Use the specified configuration

Watch

Watch changes of perception configuration

Response Stream

Continuous response on perception configuration changes

Table 4. Available fields in blickfeld.percept_pipeline.services.PerceptionWatchResponse
Field	Type	Default	Unit
perception	config.Perception	-	-
perception	The current set perception configuration

ResetBackground

Resets the background of one, multiple or all devices

Request

Request to reset the background model

Table 5. Available fields in blickfeld.percept_pipeline.services.PerceptionResetBackgroundRequest
Field	Type	Default	Unit
binary_direction_id	optional bytes	-	-
binary_direction_id	If set, the background is only reset for the given direction ids. The direction ids might be extracted from the point cloud of an object. NOTE: This is only supported for the mixture of gaussian background subtraction. Type: UInt32

GetBackground

Get the background frame of a single device

Response

Response containing the active background frame

Table 6. Available fields in blickfeld.percept_pipeline.services.PerceptionGetBackgroundResponse
Field	Type	Default	Unit
background	core_processing.data.Frame	-	-
background	The frame currently active as background

SetBackground

Set the background frame of a single device

Request

Request to set the active background frame

Table 7. Available fields in blickfeld.percept_pipeline.services.PerceptionSetBackgroundRequest
Field	Type	Default	Unit
background	core_processing.data.Frame	-	-
background	The frame to be set as background