package blickfeld.protocol.config

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* > Introduced in BSL v2.11 and firmware v1.11 Expert parameters: It is not recommended to adapt this calibrated configuration without understanding the influences on the resulting point cloud quality. The current set of parameters is preliminary, additional parameters may be added or may get obsolete in the future.

Used in: Request.SetAdvancedConfig, Response.GetAdvancedConfig

• optional Advanced.Detector detector = 1

  Refer to [Detector](#blickfeld.protocol.config.Advanced.Detector)

• optional Advanced.Processing processing = 2

  <blockquote>Introduced in BSL v2.12 and firmware v1.12</blockquote> Refer to [Processing](#blickfeld.protocol.config.Advanced.Processing)

• optional Advanced.Server server = 3

  <blockquote>Introduced in BSL v2.13 and firmware v1.13</blockquote> Refer to [Server](#blickfeld.protocol.config.Advanced.Server)

• optional Advanced.TimeSynchronization time_synchronization = 4

  <blockquote>Introduced in BSL v2.18 and firmware v1.19</blockquote> Refer to [TimeSynchronization](#blickfeld.protocol.config.Advanced.TimeSynchronization)

* The behavior of the detector can be adjusted to improve the performance under extreme environmental conditions, e.g. static setup with strong daylight or basement rooms without daylight.

Used in: Advanced

• optional float sensitivity = 1

  Relatively influences the sensitivity of the detector. Higher values might also result into range loss. It is recommended to validate the noise filter parameters after changes to this setting.

* > Introduced in BSL v2.12 and firmware v1.12 Processing parameters are set at the factory after calibration. Changing these values invalidates the factory calibration.

Used in: Advanced

• optional float range_offset = 1

  in [m]

• repeated float imu_static_rotation_offset = 2

  <blockquote>Introduced in BSL v2.19 and firmware v1.20</blockquote> in [rad] - Offset rotation matrix for acceleration of IMU. Can be used to calibrate the accelerometer e.g. on a flat surface.

• optional float horizontal_phase_offset = 3

  <blockquote>Introduced in BSL v2.19.5 and firmware v1.21.1</blockquote> in [s] - Correction for phase offset in the horizontal field of view. This parameter might be adjusted in the field if the upper and lower half of the frame drifted horizontally.

* > Introduced in BSL v2.13 and firmware v1.13 Parameters, which control the server behavior.

Used in: Advanced

• optional stream.Subscribe.PointCloud default_point_cloud_subscription = 1

  Overwrite default point cloud subscription. Can still be overridden with client requests.

* > Introduced in BSL v2.18 and firmware v1.19 Activate or deactivate synchronization and change parameters

Used in: Advanced

• oneof kind

  • TimeSynchronization.NTP ntp = 1

    If this field is set, NTP synchronization is activated, which is the default configuration. Refer to [NTP](#blickfeld.protocol.config.Advanced.Synchronization.NTP)

  • TimeSynchronization.PTP ptp = 2

    If this field is set, PTP synchronization is activated and NTP synchronization is deactivated. Refer to [PTP](#blickfeld.protocol.config.Advanced.Synchronization.PTP)

* The Blickfeld devices can use an NTPv4 client to synchronize the local device time to a time server. NTP can achieve synchronization accuracy below one millisecond for measurement results in local networks.

Used in: TimeSynchronization

• repeated string servers = 1

  Specify list of NTP server. By default, debian pool NTP servers are used.

* The Blickfeld devices can use a PTP client to synchronize the local device time to a time server. PTP can achieve an higher accuracy than NTP in local networks.

Used in: TimeSynchronization

• optional uint32 domain = 1

  PTP domain number.

• optional PTP.DelayMechanism delay_mechanism = 2

  Delay detection mode used

• repeated string unicast_destinations = 3

  Specify unicast slave addresses for unicast master operation, or unicast master addresses for slave operation. If this is set unicast mode will be activated.

Used in: PTP

• E2E = 1

  End to end delay detection

• P2P = 2

  Peer to peer delay detection

* > Introduced in BSL v2.17 and firmware v1.18 This section describes configuration of on-device algorithms.

Used in: stream.Subscribe.PointCloud

• oneof algo

  • Algorithm.BackgroundSubtraction background_subtraction = 1

    Refer to [BackgroundSubtraction](#blickfeld.protocol.config.Algorithm.BackgroundSubtraction)

  • Algorithm.NeighborFilter neighbor_filter = 2

    Refer to [NeighborFilter](#blickfeld.protocol.config.Algorithm.NeighborFilter)

  • Algorithm.StaticTransformation static_transformation = 3

    Refer to [StaticTransformation](#blickfeld.protocol.config.Algorithm.StaticTransformation)

* > Introduced in firmware v1.16 This message configures the background subtraction. The algorithm uses a configurable number of reference frames to estimate static points (background) in the scene. Once the number of reference frames are processed, it removes all static points from the point cloud output. The resulting point cloud then only contains the non-static points (foreground). Points that are a initially part of the foreground and but then stop moving, will be added to the background and thus disappear after a certain amount of time, which is given by the exponential decay rate parameter. Conversely, if an object that is already part of the background suddenly starts moving, it will be added to the foreground.

Used in: Algorithm

• optional uint32 initialization_frames = 1

  Number of frames to initialize the background with

• optional float exponential_decay_rate = 2

  Controls how fast objects switch between foreground and background. Exponential decay factor.

* > Introduced in firmware v1.18 The neighbor filter is a simple noise filter, which uses neighboring returns in the scan pattern to decide if returns should be filtered. The algorithm iterates through all returns and removes all, which have zero neighbors. A neighbor return must be: - directly to the left / to the right / above / below the current return in the scan pattern - close to the current return. The maximum range, used for this condition, is defined by the angle spacing of the scan pattern and the range of the current return. As with higher distance, neighboring returns are expected to be further away. No parameters can be configured at the moment.

Used in: Algorithm

(message has no fields)

* > Introduced in firmware v1.18 This message configures a static geometric transformation. The algorithm applies a static rotation and translation to the point cloud output. The rotation matrix **R** is expected to be a 3 x 3 matrix serialized in row major order. Rotation in matrix representation: | | R | | | --- | --- | --- | | r_1,1 | r_1,2 | r_1,3 | | r_2,1 | r_2,2 | r_2,3 | | r_3,1 | r_3,2 | r_3,3 | Rotation in serialized representation: **R** = [r_1,1, r_1,2, ... r_3,2, r_3,3] The translation vector **T** is expected to be a 3 x 1 vector. Translation in vector representation: | T | | --- | | t₁ | | t₂ | | t₃ | Translation in serialized representation: **T** = [t₁, t₂, t₃] = [x, y, z]

Used in: Algorithm

• repeated float rotation_matrix = 1

  rotation matrix **R** in serialized representation.

• repeated float translation_vector = 2

  translation vector **T** in serialized representation.

• repeated Generate.Targets targets = 1

  Internal generate targets

* Internal use only

Used in: Generate

• DEFAULT = 0

• PROTO_HASH = 1

• MATLAB_BUS = 2

• CSTRUCT = 3

* > Introduced in BSL v2.15 and firmware v1.16 Named scan patterns are saved on the device. There are two kinds of named scan patterns: 1. Default scan patterns: Each device has default scan patterns, these are saved on the device with the firmware. They are not changeable. 2. Custom scan patterns: Users can save scan patterns on the device for later use. If the scan pattern is saved as a named scan pattern, the time changing to this scan pattern will greatly decrease.

Used in: Response.GetNamedScanPatterns

• optional string name = 1

  The name has to be different of the default scan patterns and can only contain letters, numbers, space, underscore and minus.

• optional ScanPattern config = 2

  Scan pattern config, refer to [ScanPattern](#blickfeld.protocol.config.ScanPattern)

• optional bool read_only = 3

  this is an read_only flag and it will be set if this is a default scan pattern, which can't be changed or deleted.

* Product variant

Used in: Response.Hello

• PRODUCT_CUBE = 0

• PRODUCT_CUBE_RANGE = 2

* The scan pattern defines the movement of the mirrors. The key parameters of the pattern are the horizontal and vertical fields of view (FoV) as well as the number of scan lines per frame. The frame rate is defined by the total number of scan lines and the oscillation frequency of the mirrors which is fixed and device-spcific. For a more detailed explanation, see: [Scan Pattern documentation](Scan_Pattern)

Used in: Request.FillScanPattern, Request.SetScanPattern, Request.StoreNamedScanPattern, Response.FillScanPattern, Response.GetScanPattern, NamedScanPattern, data.Frame, file.PointCloud.Footer.Event, status.Scanner

• optional ScanPattern.Horizontal horizontal = 1

  Refer to [ScanPattern.Horizontal](#blickfeld.protocol.config.ScanPattern.Horizontal)

• optional ScanPattern.Vertical vertical = 2

  Refer to [ScanPattern.Vertical](#blickfeld.protocol.config.ScanPattern.Vertical)

• optional ScanPattern.Pulse pulse = 3

  Refer to [ScanPattern.Pulse](#blickfeld.protocol.config.ScanPattern.Pulse)

• optional ScanPattern.FrameRate frame_rate = 4

  Refer to [ScanPattern.FrameRate](#blickfeld.protocol.config.ScanPattern.FrameRate)

• optional ScanPattern.Filter filter = 7

  <blockquote>Introduced in BSL v2.11 and firmware v1.11</blockquote> Refer to [Filter](#blickfeld.protocol.config.ScanPattern.Filter)

• repeated Constraint constraints = 8

* > Introduced in BSL v2.10 and firmware v1.9 Filter points and returns by point attributes during the post-processing on the device. This can be used to e.g. filter points with low intensity or to enable secondary returns.

Used in: ScanPattern, stream.Subscribe.PointCloud

• optional uint32 max_number_of_returns_per_point = 1

  Set maximum number of returns per point. By default, secondary returns are disabled. Set this, e.g. to 2, to enable secondary returns.

• optional OptionalValueRange intensity = 2

  Filter all points, which intensity values are not within this value range.

• optional OptionalValueRange ambient_light_level = 3

  Filter all points, which ambient light level values are not within this value range.

• optional OptionalValueRange range = 4

  Filter all points, which range values are not within this value range.

• optional Filter.Noise noise = 5

  <blockquote>Introduced in BSL v2.11 and firmware v1.11</blockquote> Refer to [Filter.Noise](#blickfeld.protocol.config.ScanPattern.Filter.Noise)

• optional bool delete_points_without_returns = 6

  <blockquote> Introduced in BSL v2.16 and firmware v1.17</blockquote> All points without any returns are filtered if this setting is true. With active algorithms, such as background subtraction, this can reduce the bandwidth significantly. <br> Note: It is recommended to not estimate required network bandwidths when this setting is active. In scenarios, where from one frame to another, all points have returns (e.g. due to environmental changes), the peak bandwidths might increase significantly. This could result, in these scenarios, in frame losses.

* > Introduced in BSL v2.11 and firmware v1.11 This is a preliminary interface to control the noise filter on the device. All points, which have a lower intensity than the minimum intensity calculated by this filter will be filtered out. > Changed in firmware v1.15. Please re-adjust filter configurations in scan patterns. The internal algorithm implements a non-linear function, which describes the noise level for different ambient light levels. The function can be scaled with the gain and shifted with the offset. > Before firmware v1.15 The formula is: minimum_intensity = offset + gain * point.ambient_light_level, where the point.ambient_light_level is the ambient light level of the point the laser shoots at.

Used in: Filter

• optional uint32 offset = 1

  Can be seen as minimum intensity filter, if there is no ambient light.

• optional float gain = 2

  The gain scales a non-linear function, which uses the ambient light level of the point the laser shoots at, as an input.

• optional bool enable = 3

  <blockquote>Introduced in BSL v2.17 and firmware v1.18</blockquote> This flag can be used to disable the internal noise filter completely. By default, the noise filter is enabled.

* This section defines the target frame rate for synchronization between several LiDAR devices. The feature is described in the [Time synchronization documentation](Sync).

Used in: ScanPattern

• optional double target = 1

  Target frame rate during synchronization between several LiDAR devices

• optional double maximum = 2

  Read-only parameter for maximum achievable frame rate.

• optional double reference_time_offset = 3

  * In [s]. Adds a constant value to the Unix reference time, starting from 00:00:00 UTC on January 1, 1970. It can be used to compensate delays or to interleave LiDAR devices. Default: 0

* This section defines the movement of the horizontal mirror. The mirror moves continuously with its own frequency. Each half-oscillation period of the mirror results in one scan line.

Used in: ScanPattern

• optional float fov = 1

  * Unit: [rad] – optical field of view of the horizontal mirror. Note: In v2.2* and below, this was defined as a mechanical FoV.

* This section defines the pattern in which the laser pulses and captures sample points

Used in: ScanPattern

• optional float angle_spacing = 2

  * Unit: [rad] – This defines the angle within which the horizontal mirror moves between two laser pulses. This parameter therefore defines the horizontal sampling resolution.

• optional Pulse.Type type = 3

  Refer to [ScanPattern.Pulse.Type](#blickfeld.protocol.config.ScanPattern.Pulse.Type)

• optional Pulse.FrameMode frame_mode = 4

  Refer to [ScanPattern.Pulse.FrameMode](#blickfeld.protocol.config.ScanPattern.Pulse.FrameMode)

• optional bool distortion_correction = 5

  * This parameter defines whether the distortion correction is applied when calculating the laser pulse angles. Default: True

• optional Pulse.Custom custom = 8

  <blockquote>Introduced in BSL v2.15 and firmware v1.16</blockquote> Refer to [ScanPattern.Pulse.Custom](#blickfeld.protocol.config.ScanPattern.Pulse.Custom)

> Introduced in BSL v2.15 and firmware v1.16 Custom scan pattern configuration. Required for different use cases, as e.g. angle triggers, point triggers, or detector recordings.

Used in: Pulse

• oneof custom_type

  • Custom.AngleTrigger angle_trigger = 1

  • Custom.PointTrigger point_trigger = 2

• optional Custom.Duration duration = 3

Allows to trigger based on horizontal angles.

Used in: Custom

• repeated AngleTrigger.Angle angles = 1

  List of angles

Used in: AngleTrigger

• optional float horizontal_angle = 1

  in [rad]

• optional uint64 scanline_id = 2

  Define in which scanline the trigger should occur, if none is given, it will trigger in all scanlines

• repeated Trigger enabled_triggers = 3

Specify duration for trigger type in seconds.

Used in: Custom

• optional float external_0 = 1

  in [s]

• optional float external_1 = 2

  in [s]

Set point triggers for the normal equi-distant horizontal scan pattern.

Used in: Custom

• repeated PointTrigger.Point points = 1

Used in: PointTrigger

• optional uint64 id = 1

  Define which point ID should be triggered

• repeated Trigger enabled_triggers = 2

List of available device triggers.

Used in: AngleTrigger.Angle, PointTrigger.Point

• TRG_EXTERNAL_0 = 1

  External output pin, routed to TEST0 on the debug board.

• TRG_EXTERNAL_1 = 2

  External output pin, routed to TEST1 on the debug board.

• TRG_DETECTOR = 3

  Internal detector recording, which can retrieved with the detector stream.

• TRG_LASER = 4

  Trigger laser.

* Because of the mirrors oscillating and the resulting Lissajous curve, it is not possible to pulse in a completely arbitrary pattern. A frame always starts with a phase in which the vertical mirror increases its amplitude (up-ramping). It is followed by a second phase, in which it decreases its amplitude until it no longer moves (down-ramping). It is possible to pulse in both phases. There are four different options to pulse:

Used in: Pulse

• NONE = 0

• COMBINE_UP_DOWN = 1

  * The device pulses in the up-ramping and down-ramping phases and one frame is created by combining the resulting sample points.

• ONLY_UP = 2

  * The device pulses in the **up-ramping** phase and **does not** pulse in the **down-ramping** phase.

• ONLY_DOWN = 3

  * The device is **does not** pulse in the **up-ramping** phase and pulses in the **down-ramping** phase.

• SEPARATE = 4

  * The device pulses in the up-ramping and down-ramping phases and one frame for each phase is created.

* The device pulses depending on the mirror positioning. Currently, only pulse triggering on the horizontal angle is supported. The laser pulses are emittet with the configured angular spacing.

Used in: Pulse

• EQUI_HORIZONTAL_ANGLE = 0

  The laser is triggered depending on the horizontal angle of the laser beam with the configured angle spacing.

• EQUI_DENSITY = 1

  Reserved for future use. Not yet supported.

• CUSTOM = 2

  Internal feature for custom scan patterns

• INTERLEAVE = 3

  The laser is triggered depending on the horizontal angle of the laser beam with the configured angle spacing. Scanlines are shifted by angle_spacing/4 with alternate directions. This doubles the horizontal density with the COMBINE_UP_DOWN FrameMode and efficiently uses the down-ramp phase in the inner horizontal FoV.

* This section defines the movement of the vertical mirror within one frame. The mirror moves for from 0 degrees to the configured target FoV (up-ramping phase) and back to 0 degrees (down-ramping phase) with its eigenfrequency. The number of scanlines for each phase can be configured. Due to the dynamics of the mirror, a certain number of scan lines are required to reach the target FoV and then to reach 0 degrees again. Consequently, if the limit is reached, a lower number of scan lines requires a reduced FoV. Thus, a higher number of scan lines allows a larger vertical FoV. The vertical FoV is limited by the optical components. Note: Due to the time required for one scan line, the rounded even number of scan lines directly scales inverse proportionally with65t the frame rate. For a more detailed explanation, see: [Scan Pattern documentation](Scan_Pattern)

Used in: ScanPattern

• optional float fov = 1

  * Unit: [rad] – FoV in the center of the frame. Due to the eye shape of the scan pattern, the vertical FoV decreases the outer boundaries of the horizontal mirror.

• optional uint32 scanlines_up = 2

  * Configures the number of scan lines required for the up-ramping phase. During the up-ramping phase, the vertical mirror increases its amplitude from 0 degrees to the target FoV. Default: 200

• optional uint32 scanlines_down = 3

  * Configures the amount of scan lines required for the down-ramping phase. During the down-ramping phase, the vertical mirror decreases its amplitude from the target FoV to 0 degrees. Default: 30

• repeated Secure.Permissions permissions = 1

• optional Secure.CertType cert_type = 2

• optional uint32 version_major = 3

• optional uint32 version_minor = 4

• optional uint32 version_patch = 5

Used in: Secure

• CLIENT = 0

• CUBE = 1

do NOT change enum labels, they are used as strings in ssl certs

Used in: Secure

• PUBLIC = 0

• DEVELOPER = 1