Client files for Qb2 Firmware 2.8.3 (15.05.2025)

Author: bf-jomess

doc/antora.yml

@@ -1,4 +1,4 @@
-display_version: v2.7
+display_version: v2.8
 name: Qb2
 nav:
 - modules/ROOT/nav.adoc
@@ -9,4 +9,4 @@ nav:
 - modules/developer/nav.adoc
 - modules/service_and_maintenance/nav.adoc
 title: Qb2
-version: v2.7
+version: v2.8

doc/modules/protocol/pages/blickfeld/base/options/misc.adoc

@@ -37,7 +37,7 @@ Is used to aggregate multiple long term statistics.
 [#_blickfeld_base_LinkData]
 == Link Data
 
-
+Message defining LinkData
 
 .Available fields in blickfeld.base.LinkData
 |===

doc/modules/protocol/pages/blickfeld/percept_pipeline/config/background_subtraction.adoc

@@ -26,17 +26,71 @@ background model if the scene changes. The update rate is controlled via 'expone
 | Field | Type | Default | Unit
 
 .2+| *num_initialization_frames* | uint32| - | - 
-3+| How many frames of the first received frames are used to build the background 
+3+| The amount of initially received frames which are used to build the background. 
+ 
 Reasonable default: 10
 
 .2+| *exponential_decay* | float| - | - 
 3+| Controls how fast objects switch between foreground and background. Exponential decay factor. 
+ 
 Reasonable default: 0.005
 
 .2+| *min_weight_threshold_for_background* | float| - | - 
 3+| Controls how much noise the background/foreground is expected to have. 
+ 
 Reasonable default: 0.25
 
+.2+| *object_awareness* | xref:blickfeld/percept_pipeline/config/background_subtraction.adoc#_blickfeld_percept_pipeline_config_BackgroundSubtraction_MixtureOfGaussians_ObjectAwareness[ObjectAwareness] | - | - 
+3+| Configure the object awareness of the background subtraction.
+
+|===
+
+[#_blickfeld_percept_pipeline_config_BackgroundSubtraction_MixtureOfGaussians_ObjectAwareness]
+=== Object Awareness
+
+The dynamic model update can depend on the detected objects. 
+If enabled, the model update is freezed for areas around detected objects. 
+ 
+This can be very helpful to avoid that stalled objects, which stay in the scene for a while 
+(e.g. parked cars) or objects which are following similar paths (e.g. persons in 
+a hallway), cause the generation of an invalid background model. 
+The dynamic model update is though still enabled for small objects or noise points 
+(e.g. caused by vegetation). 
+ 
+To still allow the merging of objects into the scene background, simple rules are available 
+which automatically re-initialize the background model for the area around a stall object. 
+Also, objects can be explicitly merged into the background via separate API commands.
+
+.Available fields in blickfeld.percept_pipeline.config.BackgroundSubtraction.MixtureOfGaussians.ObjectAwareness
+|===
+| Field | Type | Default | Unit
+
+.2+| *enabled* | bool| - | - 
+3+| Enable object awareness
+
+.2+| *auto_merge_object_duration* | float| - | s 
+3+| After an object has been tracked for the given duration, 
+the area of the object is reinitialized. 
+ 
+If 0, the auto merging is disabled. 
+ 
+Reasonable default: 10 minutes
+
+.2+| *sizes* | repeated xref:blickfeld/percept_pipeline/config/object_size.adoc[ObjectSize] | - | - 
+3+| Only enable the object awareness for the given object sizes. 
+ 
+If empty, it is enabled for all sizes. 
+ 
+Reasonable default: OBJECT_SIZE_MEDIUM, OBJECT_SIZE_LARGE.
+
+.2+| *disable_for_in_background_objects* | bool| - | - 
+3+| Disable for objects which are marked with the in_background property. 
+ 
+This can be beneficial in scenes where the continuous background model 
+update works better than the one-shot auto-merge re-initialization. 
+Please note that the shadow detection will not work as expected when this 
+is disabled.
+
 |===
 
 [#_blickfeld_percept_pipeline_config_BackgroundSubtraction_Static]
@@ -53,6 +107,7 @@ environment.
 
 .2+| *num_initialization_frames* | uint32| - | - 
 3+| How many frames of the first received frames are used to build the background 
+ 
 Reasonable default: 10
 
 .2+| *voxel_size* | float| - | m 

doc/modules/protocol/pages/blickfeld/percept_pipeline/data/point_type.adoc

@@ -13,6 +13,7 @@ The type of the point
 | POINT_TYPE_BACKGROUND ^| 2 | The point is part of the background point cloud.
 | POINT_TYPE_FILTERED ^| 4 | The point is filtered, e.g. by applying an exclusion zone 
 or the radius outlier filter.
+| POINT_TYPE_SHADOW ^| 8 | The point is part of a shadow.
 | POINT_TYPE_OBJECT ^| 256 | The point is part of a detected object point cloud.
 | POINT_TYPE_OBJECT_INTRUDING ^| 512 | The point is part of a detected object point cloud which is currently 
 intruding a object based security zone.

doc/modules/protocol/pages/blickfeld/percept_pipeline/services/perception.adoc

@@ -12,7 +12,6 @@ Perception configurations specify the algorithms used for e.g. for background su
 | *xref:#Get[]* | https://protobuf.dev/reference/protobuf/google.protobuf/#empty[google.protobuf.Empty]| xref:blickfeld/percept_pipeline/services/perception.adoc#_blickfeld_percept_pipeline_services_PerceptionGetResponse[PerceptionGetResponse]
 | *xref:#Set[]* | xref:blickfeld/percept_pipeline/services/perception.adoc#_blickfeld_percept_pipeline_services_PerceptionSetRequest[PerceptionSetRequest]| https://protobuf.dev/reference/protobuf/google.protobuf/#empty[google.protobuf.Empty]
 | *xref:#Watch[]* | https://protobuf.dev/reference/protobuf/google.protobuf/#empty[google.protobuf.Empty]| xref:blickfeld/percept_pipeline/services/perception.adoc#_blickfeld_percept_pipeline_services_PerceptionWatchResponse[PerceptionWatchResponse]Stream 
-| *xref:#ListTemplates[]* | https://protobuf.dev/reference/protobuf/google.protobuf/#empty[google.protobuf.Empty]| xref:blickfeld/percept_pipeline/services/perception.adoc#_blickfeld_percept_pipeline_services_PerceptionListTemplatesResponse[PerceptionListTemplatesResponse]
 | *xref:#ResetBackground[]* | xref:blickfeld/percept_pipeline/services/perception.adoc#_blickfeld_percept_pipeline_services_PerceptionResetBackgroundRequest[PerceptionResetBackgroundRequest]| https://protobuf.dev/reference/protobuf/google.protobuf/#empty[google.protobuf.Empty]
 | *xref:#GetBackground[]* | https://protobuf.dev/reference/protobuf/google.protobuf/#empty[google.protobuf.Empty]| xref:blickfeld/percept_pipeline/services/perception.adoc#_blickfeld_percept_pipeline_services_PerceptionGetBackgroundResponse[PerceptionGetBackgroundResponse]
 | *xref:#SetBackground[]* | xref:blickfeld/percept_pipeline/services/perception.adoc#_blickfeld_percept_pipeline_services_PerceptionSetBackgroundRequest[PerceptionSetBackgroundRequest]| https://protobuf.dev/reference/protobuf/google.protobuf/#empty[google.protobuf.Empty]
@@ -50,9 +49,6 @@ Request for setting the perception configuration
 |===
 | Field | Type | Default | Unit
 
-.2+| *template_name* | string| - | - 
-3+| Use a template to set the configuration, templates are predefined perception configurations
-
 .2+| *perception* | xref:blickfeld/percept_pipeline/config/perception.adoc[config.Perception] | - | - 
 3+| Use the specified configuration
 
@@ -77,39 +73,6 @@ Continuous response on perception configuration changes
 
 |===
 
-[#ListTemplates]
-== ListTemplates
-
-Return list of names for named templates
-
-[#_blickfeld_percept_pipeline_services_PerceptionListTemplatesResponse]
-=== Response
-
-Response containing perception configuration templates
-
-.Available fields in blickfeld.percept_pipeline.services.PerceptionListTemplatesResponse
-|===
-| Field | Type | Default | Unit
-
-.2+| *named_templates* | repeated xref:blickfeld/percept_pipeline/services/perception.adoc#_blickfeld_percept_pipeline_services_PerceptionListTemplatesResponse_NamedTemplatesEntry[NamedTemplatesEntry] | - | - 
-3+| Mapping from a template name to the template itself. The template can be used to configure the perception 
-algorithms for certain use-cases.
-
-|===
-
-[#_blickfeld_percept_pipeline_services_PerceptionListTemplatesResponse_NamedTemplatesEntry]
-==== Named Templates Entry
-
-
-
-.Available fields in blickfeld.percept_pipeline.services.PerceptionListTemplatesResponse.NamedTemplatesEntry
-|===
-| Field | Type | Default | Unit
-
-| *key* | string| - | - 
-| *value* | xref:blickfeld/percept_pipeline/config/perception.adoc[config.Perception] | - | - 
-|===
-
 [#ResetBackground]
 == ResetBackground
 
@@ -118,16 +81,19 @@ Resets the background of one, multiple or all devices
 [#_blickfeld_percept_pipeline_services_PerceptionResetBackgroundRequest]
 === Request
 
-Request to reset the background model of one, multiple or all devices
+Request to reset the background model
 
 .Available fields in blickfeld.percept_pipeline.services.PerceptionResetBackgroundRequest
 |===
 | Field | Type | Default | Unit
 
-.2+| *fqdns* | repeated string| - | - 
-3+| If the list is empty, the background models of all data sources are reset. 
-If the background models of only specific devices should be rebuilt, the 'fqdn' of the respective devices 
-has to be mentioned in the 'fqdns' list.
+.2+| *binary_direction_id* | optional bytes| - | - 
+3+| 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
 
 |===
 

doc/modules/protocol/pages/blickfeld/video/config/visualization.adoc

@@ -10,6 +10,9 @@ Message representing the visuals configuration of the RTSP video stream
 .2+| *frame* | xref:blickfeld/video/config/visualization.adoc#_blickfeld_video_config_Visualization_Frame[Frame] | - | - 
 3+| frame configuration
 
+.2+| *camera* | xref:blickfeld/video/config/visualization.adoc#_blickfeld_video_config_Visualization_Camera[Camera] | - | - 
+3+| camera configuration
+
 |===
 
 [#_blickfeld_video_config_Visualization_Color]
@@ -55,6 +58,23 @@ Visual configuration of point cloud frame. Element coloring can be disabled by u
 
 |===
 
+[#_blickfeld_video_config_Visualization_Camera]
+== Camera
+
+Configuration of the camera
+
+.Available fields in blickfeld.video.config.Visualization.Camera
+|===
+| Field | Type | Default | Unit
+
+.2+| *position* | xref:blickfeld/base/geometry/vector3.adoc[base.geometry.Vector3] | - | - 
+3+| camera position - where camera is located
+
+.2+| *target* | xref:blickfeld/base/geometry/vector3.adoc[base.geometry.Vector3] | - | - 
+3+| camera target - target at which camera looks
+
+|===
+
 [#_blickfeld_video_config_Visualization_Rotation]
 == Rotation
 

doc/modules/protocol/pages/blickfeld/video/services/visualization.adoc

@@ -23,26 +23,17 @@ Gets named visual configuration
 
 Get Visualization Request
 
-.Available fields in blickfeld.video.services.VisualizationGetRequest
-|===
-| Field | Type | Default | Unit
-
-.2+| *name* | string| - | - 
-3+| visualisation name
-
-|===
-
 [#_blickfeld_video_services_VisualizationGetResponse]
 === Response Stream
 
-Get Visualisation response
+Get Visualization response
 
 .Available fields in blickfeld.video.services.VisualizationGetResponse
 |===
 | Field | Type | Default | Unit
 
 .2+| *configuration* | xref:blickfeld/video/config/visualization.adoc[config.Visualization] | - | - 
-3+| visualisation configuration
+3+| visualization configuration
 
 |===
 
@@ -54,17 +45,14 @@ Applies visualization configuration to the video stream
 [#_blickfeld_video_services_VisualizationSetRequest]
 === Request
 
-Set Visualisation request
+Set Visualization request
 
 .Available fields in blickfeld.video.services.VisualizationSetRequest
 |===
 | Field | Type | Default | Unit
 
-.2+| *name* | string| - | - 
-3+| can be applied by name (from the existing list)
-
 .2+| *configuration* | xref:blickfeld/video/config/visualization.adoc[config.Visualization] | - | - 
-3+| can be applied without name
+3+| visualization configuration
 
 |===
 

protocol/blickfeld/base/data/health.proto

@@ -8,7 +8,7 @@ option (.blickfeld.base.access_control_file) = {
 };
 
 // The Health message and corresponding services are used to indicate their health and status.
-// 
+//  
 // They are available on different layers.
 // Upstream or higher layers usually aggregate the health of their child modules.
 // The goal is to provide an aggregated product health that reliably indicates if everything is functional.

protocol/blickfeld/base/data/version.proto

@@ -8,7 +8,7 @@ option (.blickfeld.base.access_control_file) = {
 };
 
 // A general message used for version information.
-// 
+//  
 // https://semver.org[Semantic versioning] is used to identify a software state.
 // It additionaly adds the short hash of the corresponding commit.
 message Version {

protocol/blickfeld/base/options/access_control.proto

@@ -13,34 +13,34 @@ option (.blickfeld.base.access_control_file) = {
 // and Protobuf field level.
 message AccessControl {
   // Available access levels
-  // 
+  //  
   // The levels are ordered in ascending order, which means that each level also inherits the permissions
   // of the levels above it.
   enum Level {
     // Access level is not specified
     LEVEL_UNSPECIFIED = 0;
     // Everyone can access
-    // 
+    //  
     // The corresponding entities can be accessed by anyone who has access to the interface of the device.
     // The access can not be disabled by the user.
     LEVEL_PUBLIC = 1;
     // Only authorized clients can access
-    // 
+    //  
     // The corresponding entities can only be used by authorized clients.
     // The access can be managed by clients with the ADMIN access level.
     // If desired, the AUTHORIZED access level can be configured to act equally to the PUBLIC access level.
     LEVEL_AUTHORIZED = 2;
     // Only administrative clients can access
-    // 
+    //  
     // The corresponding entities are mainly used to configure the accounts with AUTHORIZED & ADMIN access levels.
     LEVEL_ADMIN = 3;
     // Only clients of the Blickfeld support can access
-    // 
+    //  
     // The corresponding entities can only be accessed by Blickfeld Support Tools & clients.
     // The access tokens are bound to devices.
     LEVEL_SUPPORT = 4;
     // Only clients in production can access
-    // 
+    //  
     // The corresponding entities are used for end-of-line & re-work processes.
     LEVEL_PRODUCTION = 5;
     // Only Blickfeld developers can access

protocol/blickfeld/base/options/misc.proto

@@ -13,7 +13,7 @@ option (.blickfeld.base.access_control_file) = {
 // collect long term statistics for the annotated field.
 message LifeTimeDiagnostics {
   // Type of diagnostics.
-  // 
+  //  
   // Is used to aggregate multiple long term statistics.
   enum Type {
     // Unspecified type.
@@ -31,6 +31,7 @@ message LifeTimeDiagnostics {
   optional .blickfeld.base.LifeTimeDiagnostics.Type type = 1 [default = TYPE_UNSPECIFIED];
 }
 
+// Message defining LinkData
 message LinkData {
   required string type = 1;
   required string directory = 2;

protocol/blickfeld/base/options/protocol_maturity.proto

@@ -15,11 +15,11 @@ option (.blickfeld.base.access_control_file) = {
 message ProtocolMaturity {
   // This enumeration describes the maturity of a protocol.
   // Please refer to the individual values.
-  // 
+  //  
   // [IMPORTANT]
   // APIs marked with the EXPERIMENTAL and DEPRECATED flags have to be handled with care.
   // Please read through the definition.
-  // 
+  //  
   // Please report if the protocol maturity of a service, method, and field does not fit
   // e.g. if an EXPERIMENTAL field is required in an application and production use case.
   enum Level {
@@ -48,7 +48,7 @@ message ProtocolMaturity {
 
 extend .google.protobuf.ServiceOptions {
   // Mark service with protocol maturity
-  // 
+  //  
   // Usage:
   // service Example {
   //     (protocol_maturity_service).level = LEVEL_MAINTAINED;
@@ -58,7 +58,7 @@ extend .google.protobuf.ServiceOptions {
 
 extend .google.protobuf.MethodOptions {
   // Mark method with protocol maturity
-  // 
+  //  
   // Usage:
   // service Example {
   //     ...
@@ -70,7 +70,7 @@ extend .google.protobuf.MethodOptions {
 
 extend .google.protobuf.FieldOptions {
   // Mark field in request/response with protocol maturity
-  // 
+  //  
   // Usage:
   // message ExampleMethodRequest {
   //     bool enable_over_clocking = 1 [(protocol_maturity_field).level = LEVEL_EXPERIMENTAL];