---
title: "Pipeline Settings"
description: "Pipeline settings in LumiScan VGR - the JSON pipelines section for determining object poses, grip point calculation and filters, selected by the PLC."
product: "LumiScan VGR"
component: "lumiscan-vgr"
version: "1.8.4"
display_version: "1.8.4.8"
latest_version: true
language: "en"
url: "https://docs.hdvisionsystems.com/en/lumiscan-vgr/json-settings/pipelines.html"
---

# Pipeline Settings – LumiScan VGR

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.

## Pipeline Parameters

- [PipelineSettings](https://docs.hdvisionsystems.com/en/lumiscan-vgr/api/settings/pipeline-settings.html)

### Grip Point Calculation

- [GripPointSettings](https://docs.hdvisionsystems.com/en/lumiscan-vgr/api/settings/grip-point-settings.html)
  - [GripPointFilterSettingsBase](https://docs.hdvisionsystems.com/en/lumiscan-vgr/api/settings/grip-point-filter-settings-base.html)
    - [GripPointFilterSettings](https://docs.hdvisionsystems.com/en/lumiscan-vgr/api/settings/grip-point-filter-settings.html)
      - [Z-Axis Filter](https://docs.hdvisionsystems.com/en/lumiscan-vgr/api/settings/grip-point-filter-settings-filter-type-z-axis.html)
  - [GripPointCorrection](https://docs.hdvisionsystems.com/en/lumiscan-vgr/api/settings/grip-point-correction.html)
    - [OffsetMap](https://docs.hdvisionsystems.com/en/lumiscan-vgr/api/settings/grip-point-correction-offset-map.html)

## Point Cloud Filter Steps {#filters}

*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.