Blickfeld-qb2

* Bugfix for Blickfeld Flow: Method & FQDN of blickfeld-qb2-method were overridden even though they had non-default values. Multiple nodes in a series always executed the gRPC method of the first node.
* Bugfix for core processing client health: IP address was not properly forwarded for non-WebGUI clients

Highlights

* An optimized point cloud stream with a voxel filter has been incorporated to enhance performance and data quality.
* Visualization for the volume map has been added in the WebGUI, along with a corresponding [API service](https://docs.blickfeld.com/qb2/Qb2/v1.9/protocol/blickfeld/percept_processing/services/volume_map.html).
* The [Time Synchronization API](https://docs.blickfeld.com/qb2/Qb2/v1.9/protocol/blickfeld/system/services/time_synchronization.html) service has been introduced, allowing custom NTP servers to be used and providing health information for improved time management.
* A significant performance boost has been achieved for the percept pipeline, resulting in a smoother and faster experience.
* Bugfix: A bug causing some devices to become unresponsive with the error message "Point Cloud stream not active" has been resolved.
* The point cloud in the viewer WebGUI color can now be colored by height, enhancing data analysis capabilities.
* Multiple improvements and bug fixes have been implemented in the WebGUI to enhance the user experience.

⚠ Breaking Changes

* The Percept StateList API has been refactored to the States API. Please ensure that the API clients are reviewed and updated accordingly.
* The MQTT output format has been updated due to the refactored Percept States API. It is required that the push configuration is revisited to align with the new format.

| Example for Volume Map Visualization |
| ------------- |
|  |

Highlights

* Blickfeld Flow (BETA): Low-code prototyping and integration tool for customizing and extending the functionality of a Qb2 sensor. [Read more](https://docs.blickfeld.com/qb2/Qb2/v1.8/foundations/flow.html)
* Improve start / stop logic: Qb2 will automatically stop when no point cloud clients are connected (after a 60s idle time)
* Bugfix: Sensor setup view broke when one of the configured sensors had a wrong IP or was offline
* WebGUI: Introduce a more linear point cloud coloring
* API: Add point-rate-too-low and misalignment-detection [flags](https://docs.blickfeld.com/qb2/Qb2/v1.8/protocol/blickfeld/core_processing/data/health.html#_blickfeld_core_processing_data_Health_ErrorFlags) to core processing health service
* Qb2 now also reports continuous timestamps in sensor setups without NTP server (previously timestamps were reset with every reboot)

| Example for Blickfeld Flow | Linear color map |
| ------------- | ------------- |
|  |  |

* Bugfix: False positive security zone alarms

Highlights

* Blickfeld Services Connect: Simple integration with the Blickfeld Volume Monitoring solution and used for remote field support.
* Point Cloud Get / Snapshot: Instead of a stream, a simple get method is now available to fetch the latest point cloud frame.
* Normalize intensity / photon count: Compensates the intensity for range and thus produces more homogeneous data.
* Close Range Noise Improvements: In certain scenarios noise appeared in the close range. This should be reduced now.
* Bugfix: Scan Patterns are constrained correctly. A certain number of up & down scanlines is enforced for a certain vertical field of view.
* Improved stability of laser voltage controller: Has potentially been leading to a temporary device failure after several hours of operation
* Bugfix: Improve error handling in WebGUI
* CVE Security Patches

* Bugfix: Improved trigger set synchronization. A SetScanPattern call is now allowed before the hardware start.
* Bugfix: Slow clients were not back-pressured correctly, thus the device endpoint was reset after some time with slow clients. A "Core Processing" failure can occur with too slow clients (either bad networking or too less computing power). To improve the user experience, the upcoming release v1.7 will handle slow clients more gracefully and only show a warning.
* Bugfix: WebGUI error handling for modified zones has been improved. A popup now indicates when a zone modification has not been saved.