Pipeline Settings
The pipelines section defines how image and point cloud data are processed to determine object poses and calculate suitable gripping results.
A pipeline combines the required processing steps for a specific application. Multiple pipelines can be configured and selected by the PLC.
Point Cloud Filter Steps
From v2.0.0.
A pipeline’s point cloud processing is its ordered list of filter steps, filters. The steps run on the camera’s point cloud before detection, in camera coordinates, and each step works on the output of the previous one. The step types are BOX, REMOVE_NAN, ROR, VOXEL, SOR, ROI2D, OBB2D, REMOVE_LOCAL_MAXIMUM, MEDIAN, RANDOM_SAMPLE and UNIFORM_SAMPLE, plus IMAGE_ROI.
The IMAGE_ROI step (x, y, width, height) defines the image ROI of the pipeline; a pipeline has at most one. A pipeline without an IMAGE_ROI step has no image ROI: reject2DObjectsOutsideROI then rejects nothing.
The steps and their order are checked when the settings file is loaded.