diff --git a/bagPositioning_test/bagPositioning_test.cpp b/bagPositioning_test/bagPositioning_test.cpp
index d785b19..0bf6ff3 100644
--- a/bagPositioning_test/bagPositioning_test.cpp
+++ b/bagPositioning_test/bagPositioning_test.cpp
@@ -2426,7 +2426,7 @@ void _outputScanDataFile_removeZeros(char* fileName, SVzNL3DLaserLine* scanData,
 #define TEST_COMPUTE_GRASP_POINT	1
 #define TEST_COMPUTE_CALIB_PARA		0
 
-#define TEST_GROUP 21
+#define TEST_GROUP 22
 #define TEST_TOP_VIEW_GROUP			(TEST_GROUP - 8)
 #define TEST_TOP_ORIEN_GROUP		(TEST_GROUP - 6)
 int main()
@@ -2515,7 +2515,7 @@ int main()
 
 #if TEST_COMPUTE_CALIB_PARA
 	char _calib_datafile[256];
-	sprintf_s(_calib_datafile, "F:\\ShangGu\\编织袋数据\\编织袋RGBD识别方向\\底面点云\\底面点云.txt");
+	sprintf_s(_calib_datafile, "F:\\ShangGu\\编织袋数据\\山东现场\\调平数据.txt");
 	int lineNum = 0;
 	float lineV = 0.0f;
 	int dataCalib = 0;
@@ -2538,10 +2538,10 @@ int main()
 		}
 		//
 		char calibFile[250];
-		sprintf_s(calibFile, "F:\\ShangGu\\编织袋数据\\编织袋RGBD识别方向\\ground_calib_para.txt");
+		sprintf_s(calibFile, "F:\\ShangGu\\编织袋数据\\山东现场\\ground_calib_para.txt");
 		_outputCalibPara(calibFile, calibPara);
 		char _out_file[256];
-		sprintf_s(_out_file, "F:\\ShangGu\\编织袋数据\\编织袋RGBD识别方向\\LaserLine1_grid_calib.txt");
+		sprintf_s(_out_file, "F:\\ShangGu\\编织袋数据\\山东现场\\ground_grid_calib.txt");
 		_outputScanDataFile_self(_out_file, laser3DPoints, lineNum,
 			lineV, maxTimeStamp, clockPerSecond);
 		printf("%s: calib done!\n", _calib_datafile);
@@ -2564,22 +2564,23 @@ int main()
 	"F:\\ShangGu\\编织袋数据\\点云11_盐袋\\", //10
 	"F:\\ShangGu\\编织袋数据\\点云12_盐袋\\", //11
 	"F:\\ShangGu\\编织袋数据\\点云13_现场测试\\", //12
-	"F:\\ShangGu\\编织袋数据\\编织袋RGBD识别方向\\", //13
-	"F:\\ShangGu\\编织袋数据\\编织袋RGBD识别方向_2\\", //14
-	"F:\\ShangGu\\编织袋数据\\侧抓数据\\", //15
-	"F:\\ShangGu\\编织袋数据\\侧抓数据_现场\\20250419\\", //16
-	"F:\\ShangGu\\编织袋数据\\侧抓数据_现场\\20250420-1\\", //17
-	"F:\\ShangGu\\编织袋数据\\侧抓数据_现场\\20250420-2\\", //18
-	"F:\\ShangGu\\编织袋数据\\侧抓数据_现场\\20250420-3\\", //19
-	"F:\\ShangGu\\编织袋数据\\侧抓数据_现场\\20250420-4\\", //20
+	"F:\\ShangGu\\编织袋数据\\山东现场\\", //13
+	"F:\\ShangGu\\编织袋数据\\编织袋RGBD识别方向\\", //14
+	"F:\\ShangGu\\编织袋数据\\编织袋RGBD识别方向_2\\", //15
+	"F:\\ShangGu\\编织袋数据\\侧抓数据\\", //16
+	"F:\\ShangGu\\编织袋数据\\侧抓数据_现场\\20250419\\", //17
+	"F:\\ShangGu\\编织袋数据\\侧抓数据_现场\\20250420-1\\", //18
+	"F:\\ShangGu\\编织袋数据\\侧抓数据_现场\\20250420-2\\", //19
+	"F:\\ShangGu\\编织袋数据\\侧抓数据_现场\\20250420-3\\", //20
+	"F:\\ShangGu\\编织袋数据\\侧抓数据_现场\\20250420-4\\", //21
 	};
 
 	SVzNLRange fileIdx[TEST_GROUP] = { 
 		{0,176},{1,200},{1,166},{122,141},{1,65},
 		{1,29},{108,135},{0,200}, {1,200}, {1,12},
-		{2,4}, {1,5}, {1,1}, {1,21},{1,28},
-		{3,3}, {1,51}, {4,83}, {1,74}, {1,61},
-		{1,84}
+		{2,4}, {1,5}, {1,1}, {1,1},
+		{1,21},{1,28},
+		{3,3}, {1,51}, {4,83}, {1,74}, {1,61},	{1,84}
 	};
 
 	SSG_planeCalibPara poseCalibPara;
@@ -2601,7 +2602,7 @@ int main()
 
 	SG_bagPositionParam algoParam;
 	int endGroup =  TEST_GROUP - 1;
-	for (int grp = 14; grp <= 14; grp++)
+	for (int grp = 15; grp <= 15; grp++)
 	{
 		if (grp < 10)
 		{
@@ -2627,7 +2628,19 @@ int main()
 			algoParam.growParam.minLTypeTreeLen = 50.0; //mm
 			algoParam.growParam.minVTypeTreeLen = 50.0; //mm
 		}
-		else if ( (grp >= 13) && (grp <= 14))
+		else if (grp ==13)
+		{
+			algoParam.bagParam.bagL = 550;  //袋子长65cm
+			algoParam.bagParam.bagW = 400;  //袋子宽40cm
+			algoParam.bagParam.bagH = 100;  //袋子高16cm
+			algoParam.growParam.maxLineSkipNum = 5;
+			algoParam.growParam.yDeviation_max = 20.0;
+			algoParam.growParam.maxSkipDistance = 20.0;
+			algoParam.growParam.zDeviation_max = 80;// algoParam.bagParam.bagH / 2; //袋子高度1/2
+			algoParam.growParam.minLTypeTreeLen = 50.0; //mm
+			algoParam.growParam.minVTypeTreeLen = 50.0; //mm
+		}
+		else if ( (grp >= 14) && (grp <= 15))
 		{
 			algoParam.bagParam.bagL = 750;  //袋子长65cm
 			algoParam.bagParam.bagW = 450;  //袋子宽40cm
@@ -2653,8 +2666,9 @@ int main()
 		}
 #if BAG_ALGO_USE_CORNER_FEATURE
 		algoParam.cornerParam.cornerTh = 30;  //45度角
-		algoParam.cornerParam.scale = algoParam.bagParam.bagH / 8; // 15; // algoParam.bagParam.bagH / 8;
-		algoParam.cornerParam.minEndingGap = algoParam.bagParam.bagW / 4;
+		algoParam.cornerParam.scale = 15; // algoParam.bagParam.bagH / 8; // 15; // algoParam.bagParam.bagH / 8;
+		algoParam.cornerParam.minEndingGap = 20;// algoParam.bagParam.bagW / 4;
+		algoParam.cornerParam.minEndingGap_z = algoParam.bagParam.bagH / 4;
 		algoParam.cornerParam.jumpCornerTh_1 = 60;
 		algoParam.cornerParam.jumpCornerTh_2 = 15;
 #else
@@ -2690,13 +2704,57 @@ int main()
 			sprintf_s(calibFile, "F:\\ShangGu\\编织袋数据\\点云13_现场测试\\ground_calib_para.txt");
 			poseCalibPara = _readCalibPara(calibFile);
 		}
-		else if ( grp == 13) 
+		else if (grp == 13)
+		{
+			char calibFile[250];
+			sprintf_s(calibFile, "F:\\ShangGu\\编织袋数据\\山东现场\\ground_calib_para.txt");
+			poseCalibPara = _readCalibPara(calibFile);
+
+			algoParam.bagParam.bagL = 550;  //袋子长65cm
+			algoParam.bagParam.bagW = 400;  //袋子宽40cm
+			algoParam.bagParam.bagH = 100;  //袋子高16cm
+			algoParam.growParam.maxLineSkipNum = 5;
+			algoParam.growParam.yDeviation_max = 20.0;
+			algoParam.growParam.maxSkipDistance = 20.0;
+			algoParam.growParam.zDeviation_max = 80;// algoParam.bagParam.bagH / 2; //袋子高度1/2
+			algoParam.growParam.minLTypeTreeLen = 50.0; //mm
+			algoParam.growParam.minVTypeTreeLen = 50.0; //mm
+
+			algoParam.cornerParam.cornerTh = 30;  //45度角
+			algoParam.cornerParam.scale = 15; // algoParam.bagParam.bagH / 8; // 15; // algoParam.bagParam.bagH / 8;
+			algoParam.cornerParam.minEndingGap = 20;// algoParam.bagParam.bagW / 4;
+			algoParam.cornerParam.minEndingGap_z = algoParam.bagParam.bagH / 4;
+			algoParam.cornerParam.jumpCornerTh_1 = 60;
+			algoParam.cornerParam.jumpCornerTh_2 = 15;
+
+			poseCalibPara.planeCalib[0] = 0.999975;
+			poseCalibPara.planeCalib[1] = -8.27654e-05;
+			poseCalibPara.planeCalib[2] = 0.00703687;
+			poseCalibPara.planeCalib[3] = -8.27654e-05;
+			poseCalibPara.planeCalib[4] = 0.999723;
+			poseCalibPara.planeCalib[5] = 0.0235198;
+			poseCalibPara.planeCalib[6] = -0.00703687;
+			poseCalibPara.planeCalib[7] = -0.0235198;
+			poseCalibPara.planeCalib[8] = 0.999699;
+			poseCalibPara.planeHeight = 3010.61;
+			poseCalibPara.invRMatrix[0] = 0.999975;
+			poseCalibPara.invRMatrix[1] = -8.27654e-05;
+			poseCalibPara.invRMatrix[2] = -0.00703687;
+			poseCalibPara.invRMatrix[3] = -8.27654e-05;
+			poseCalibPara.invRMatrix[4] = 0.999723;
+			poseCalibPara.invRMatrix[5] = -0.0235198;
+			poseCalibPara.invRMatrix[6] = 0.00703687;
+			poseCalibPara.invRMatrix[7] = 0.0235198;
+			poseCalibPara.invRMatrix[8] = 0.999699;
+			
+		}
+		else if ( grp == 14) 
 		{
 			char calibFile[250];
 			sprintf_s(calibFile, "F:\\ShangGu\\编织袋数据\\编织袋RGBD识别方向\\ground_calib_para.txt");
 			poseCalibPara = _readCalibPara(calibFile);
 		}
-		else if (grp == 14)
+		else if (grp == 15)
 		{
 			char calibFile[250];
 			sprintf_s(calibFile, "F:\\ShangGu\\编织袋数据\\编织袋RGBD识别方向_2\\ground_calib_para.txt");
@@ -2704,7 +2762,7 @@ int main()
 		}
 		for (int fidx = fileIdx[grp].nMin; fidx <= fileIdx[grp].nMax; fidx++)
 		{
-			//fidx = 10;
+			//fidx = 22;
 			if (grp < TEST_TOP_VIEW_GROUP)  //正面抓取
 			{
 				int lineNum = 0;
@@ -2744,6 +2802,7 @@ int main()
 					//调平，去除地面
 					sg_lineDataR(&laser3DPoints[i], poseCalibPara.planeCalib, poseCalibPara.planeHeight);
 				}
+
 				std::vector<SSG_peakRgnInfo> objOps;
 				sg_getBagPosition(laser3DPoints, lineNum, algoParam, poseCalibPara, objOps);
 #endif
@@ -2829,6 +2888,13 @@ int main()
 					//调平，去除地面
 					sg_lineDataR_RGBD(&laser3DPoints[i], poseCalibPara.planeCalib, poseCalibPara.planeHeight);
 				}
+#if 0
+				char _out_file[256];
+				sprintf_s(_out_file, "%sresult\\LaserLine%d_ground_calib.txt", dataPath[grp], fidx);
+				std::vector<SSG_peakOrienRgnInfo> nullObjs;
+				_outputRGBDScanDataFile_RGBD_obj(_out_file, laser3DPoints, lineNum,
+					lineV, maxTimeStamp, clockPerSecond, nullObjs);
+#endif
 #if 0
 				//产生一个调平后的2D图像，核对颜色 
 				char _tst_file[256];