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This article contains the releases of the PLB Pipe plugin.
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On this page the release of PLB Pipe plugin is available. The Pipe plugin is designed to locate pipes of configurable dimensions using a heightmap.
The download requires you to authenticate via SICK-ID. If you require a version not present here, please contact your local SSU for assistance or generate a support request.
Pipe 5.0
The Pipe plugin has been updated with new capabilities, extending its performance beyond randomly placed pipes. With this release, the algorithm now supports structured and layered pipe configurations.
In this version the minimum threshold has been Adjusted for distance to lower plane. This is done to handle small pipe dimensions when Dynamic Lower Plane is used.
An option to enable dynamic lower plane, which removes points that are considered to be part of the bottom plane. Note: To optimize this function, the defined search volume shall include the bottom plane and a fair part of the bottom needs to be visible.
The part frame x-axis is now directed along the longitude of the pipe (while in prior releases, the y-axis was directed along the longitude of the pipe). Note: If you upgrade from a previous version of this plugin, you will need to check and adjust the pick poses due to the changed part frame rotation.
This version supports plugin API 9, which is introduced in PLB 6.1.
The score calculations are now more robust when using a rigid pipe parametrization. Added the parameter Point to pipe threshold which allows a user to set how much offset from an ideal pipe is allowed.
Added localization time in the debug visualization.
