package blickfeld.protocol.data

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* > Introduced in BSL v2.17 and firmware v1.18 This section describes the additional data output of on-device algorithms. The data is attached to the frame.

Used in: Frame

• oneof algo

  • Algorithm.BackgroundSubtraction background_subtraction = 1

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

  • Algorithm.NeighborFilter neighbor_filter = 2

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

  • Algorithm.StaticTransformation static_transformation = 3

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

• optional float execution_time = 100

  Execution time of the algorithm in [s]

* The description of the algorithm can be found at [config.Algorithm.BackgroundSubtraction](#blickfeld.protocol.config.Algorithm.BackgroundSubtraction). The algorithm does not output any additional information. It subtracts returns from the main frame.

Used in: Algorithm

(message has no fields)

* The description of the algorithm can be found at [config.Algorithm.NeighborFilter](#blickfeld.protocol.config.Algorithm.NeighborFilter). The algorithm does not output any additional information. It subtracts returns from the main frame.

Used in: Algorithm

(message has no fields)

* The description of the algorithm can be found at [config.Algorithm.StaticTransformation](#blickfeld.protocol.config.Algorithm.StaticTransformation). The algorithm does not output any additional information. It transforms the cartesian coordinates in the frame.

Used in: Algorithm

(message has no fields)

* This section describes the contents of a point cloud frame.

Used in: PointCloud, file.PointCloud.Data, stream.Subscribe.PointCloud

• optional uint64 id = 1

  Incremental frame ID since startup of the device

• optional uint64 start_time_ns = 3

  Unit: [s] – start frame timestamp

• optional config.ScanPattern scan_pattern = 5

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

• optional bool is_ramp_up_phase = 9

  <blockquote>Introduced in BSL v2.16 and firmware v1.17</blockquote> If the frame_mode in the scan pattern is set to SEPARATE, this value indicates if the given frame was captured during up-ramping or down-ramping.

• optional uint32 total_number_of_points = 6

  Number of laser pulses emitted in this frame.

• optional uint32 total_number_of_returns = 7

  Number of returned points recorded: Each point of the [total_number_of_points](#blickfeld.protocol.data.Frame.total_number_of_points) can produce several returns.

• repeated Scanline scanlines = 2

  Refer to [Scanline](#blickfeld.protocol.data.Scanline)

• optional Frame.Packed packed = 8

  <blockquote>Introduced in BSL v2.16 and firmware v1.17</blockquote> Refer to [Packed](#blickfeld.protocol.data.Frame.Packed)

• repeated Algorithm algorithms = 10

  <blockquote>Introduced in BSL v2.17 and firmware v1.16</blockquote> Refer to [data.Algorithm](#blickfeld.protocol.data.Algorithm). Each algorithm configured can output additional data, which is provided with this field.

* > Introduced in BSL v2.16 and firmware v1.17 This format returns point clouds as flat binary structures. These can be efficiently encoded & decoded, which increases the performance on low-performance clients significantly. The network bandwidth is usually slightly higher as the data is not encoded. Note: The reference frame concept is handled differently for packed structures. To activate the packed format, it is sufficient to set an empty packed message in the reference frame. The requested fields need to be selected in the scanlines structure. Refer to REF_FRAME_PACKED in the client implementations.

Used in: Frame

• optional uint32 length = 1

  Length of arrays

• optional bytes cartesian = 2

  Cartesian coordinates. 3-dimensional array in row-major format with [x, y, z] tuples. Unit: [m]. Type: Float32. Byte Order: Big Endian.

• optional bytes direction = 3

  Polar coordinates. 2-dimensional array in row-major format with [azimuth, elevation] tuples. Unit: [rad]. Type: Float32. Byte Order: Big Endian.

• optional bytes range = 4

  Distance to the return. 1-dimensional array. Unit: [m]. Type: Float32. Byte Order: Big Endian.

• optional bytes intensity = 5

  Intensity of the returned laser pulse. 1-dimensional array. Type: UInt32. Byte Order: Big Endian.

• optional bytes ambient_light_level = 6

  Ambient light level in the direction of the point. 1-dimensional array. Type: UInt32. Byte Order: Big Endian.

• optional bytes start_offset_ns = 7

  Starting time of the point in relation to [Frame.start_time_ns](#blickfeld.protocol.data.Frame.start_time_ns). 1-dimensional array. Unit: [ns]. Type: UInt64. Byte Order: Big Endian.

• optional bytes point_id = 8

  Unique point identifier within a frame and scan pattern. 1-dimensional array. Type: UInt32. Byte Order: Big Endian.

• optional bytes channel_id = 9

  Identifier of the channel that detected the point. 1-dimensional array. Type: UInt8.

• optional bytes return_id = 10

  Identifier of the return. Note: Returns are ordered by intensity not by distance. 1-dimensional array. Type: UInt8.

* > Introduced in BSL v2.18 and firmware v1.19 The Cube has an on-board IMU, which can be used for e.g. mapping applications or static auto-leveling.

Used in: stream.Event

• optional uint64 start_time_ns = 1

  Unit: [ns] – start timestamp of data. The start_offset_ns in each sample refers to this value. The timestamp is synchronized to the ones in point cloud frames.

• repeated IMU.Sample samples = 2

  Refer to [Sample](#blickfeld.protocol.data.IMU.Sample)

• optional IMU.Packed packed = 3

  Refer to [Packed](#blickfeld.protocol.data.IMU.Packed)

Used in: IMU

• optional uint32 length = 1

  Length of arrays

• optional bytes start_offset_ns = 2

  Starting time of the point in relation to [Data.start_time_ns](#blickfeld.protocol.data.IMU.Data.start_time_ns). 1-dimensional array. Unit: [ns]. Type: UInt64. Byte Order: Big Endian.

• optional bytes acceleration = 3

  Accerlation. 3-dimensional array in row-major format with [x, y, z] tuples. Unit: [g]. Type: Float32. Byte Order: Big Endian.

• optional bytes angular_velocity = 4

  Angular velocity, measured with gyroscope. 3-dimensional array in row-major format with [x, y, z] tuples. Unit: [rad/s]. Type: Float32. Byte Order: Big Endian.

* Describes a single IMU state. Data rate is approx. 1.125 khz.

Used in: IMU

• optional uint64 start_offset_ns = 1

  Unit: [ns] – Offset to [start_time_ns](#blickfeld.protocol.data.IMU.start_time_ns)

• repeated float acceleration = 2

  Unit: [g] - Format: [x,y,z] - Measured acceleration for 3-axes.

• repeated float angular_velocity = 3

  Unit: [rad/s] - Format: [x,y,z] - Measured angular velocity by gyroscope for 3-axes.

* This section describes the contents of a single point of a point cloud frame or scan line. Each point resembles a direction in which the laser has fired. From each point (direction) the device can receive several responses/returns, see [Point.Return](#blickfeld.protocol.data.Point.Return).

Used in: Scanline

• optional uint32 id = 1

  Point ID in the corresponding frame

• repeated Point.Return returns = 2

  Refer to [Point.Return](#blickfeld.protocol.data.Point.Return)

• optional uint64 start_offset_ns = 3

  Unit: [ns] - starting time of the point in relation to [Frame.start_time_ns](#blickfeld.protocol.data.Frame.start_time_ns)

• optional uint32 ambient_light_level = 4

  Ambient light level in the direction of the point

• optional Point.Direction direction = 5

  Refer to [Point.Direction](#blickfeld.protocol.data.Point.Direction)

• optional uint32 channel_id = 6

  ID of the channel that detected the point

• repeated Point.ErrorFlag error_flags = 7

  Refer to [Point.ErrorFlag](#blickfeld.protocol.data.Point.ErrorFlag)

* This section describes the direction and the origin of a point. Use these polar coordinates combined with the range information of a given return, if you want to locate the reflection in the spherical coordinatesystem.

Used in: Point

• optional float azimuth = 1

  Unit: [rad] - azimuth angle: Angle with respect to y-z plane

• optional float elevation = 2

  Unit: [rad] - elevation angle: Angle with respect to x-y plane

• repeated float origin = 3

  Unit: [m] - origin of the laser beam [x,y,z]

* Error flag indicating why a point delivers no valid returns. If a flag is set, the point should not be interpreted neither processed. Flags are only set temporarily for a short period of time. If the error state does not recover, the device will stop operation.

Used in: Point

• E_VIBRATION_THRESHOLD_EXCEEDED = 1

  The environmental vibration threshold was exceeded. This should not happen in normal operation.

* This section describes the contents of a single return of a point, sorted by intensity. A return is created when the LiDAR detects the laser light of the reflection of an object.

Used in: Point

• optional uint32 id = 1

  ID of the return in the point

• repeated float cartesian = 2

  Unit: [m] – Cartesian coordinates of the target [x,y,z]

• optional float range = 3

  Unit: [m] – distance of target to the origin

• optional uint32 intensity = 4

  Intensity of the returned laser pulse

* A point cloud object can contain either a full frame or a single scan line.

Used in: stream.Event

• oneof data

  • PointCloud.Header header = 3

    Refer to [PointCloud.Header](#blickfeld.protocol.data.PointCloud.Header)

  • Frame frame = 1

    Refer to [Frame](#blickfeld.protocol.data.Frame)

  • Scanline scanline = 2

    Refer to [Scanline](#blickfeld.protocol.data.Scanline)

* This section describes the contents of a point cloud header.

Used in: PointCloud, file.PointCloud.Header

• optional string legacy_cube_serial_number = 1

  Legacy serial number of the device which recorded the pointcloud

• optional string cube_serial_number = 2

  Serial number of the device which recorded the pointcloud

• optional uint64 start_time_ns = 3

  Unit: [s] - Start timestamp of the requested pointcloud stream

• optional string firmware_version = 4

  Firmware version of the device which recorded the pointcloud

• optional update.HardwareVariant hardware_variant = 5

  Hardware variant of the device which recorded the pointcloud

• optional stream.Subscribe.PointCloud subscription = 6

  <blockquote>Introduced in BSL v2.16 and firmware v1.17</blockquote> Used & merged subscription for stream

* This section describes the contents of a single scan line in a point cloud frame.

Used in: Frame, PointCloud

• optional uint64 id = 1

  Scan line ID in the corresponding frame

• optional uint64 frame_id = 2

  Frame ID of the corresponding frame

• repeated Point points = 3

  Refer to [Point](#blickfeld.protocol.data.Point)

• optional uint64 start_offset_ns = 4

  Unit: [ns] - start time of the scanline in relation to [Frame.start_time_ns](#blickfeld.protocol.data.Frame.start_time_ns)