GrabBag/VrConfig/config/config.xml

<?xml version="1.0" encoding="UTF-8"?>
<GrabBagConfig>
    <Cameras>
        <Camera name="摄像头1" ip="192.168.1.100" />
        <Camera name="摄像头2" ip="192.168.1.101" />
    </Cameras>
    <Devices>
        <Device name="设备1" ip="192.168.1.200" />
        <Device name="设备2" ip="192.168.1.201" />
    </Devices>
    <AlgorithmParams>
        <!-- 编织袋参数 -->
        <BagParam bagL="650.0" bagW="450.0" bagH="160.0" />
        
        <!-- 垛参数 -->
        <PileParam pileL="1300.0" pileW="900.0" pileH="800.0" />
        
        <!-- 滤波参数 -->
        <FilterParam continuityTh="20.0" outlierTh="5" />
        
        <!-- 角点特征参数 -->
        <CornerParam minEndingGap="20.0" minEndingGap_z="20.0" scale="15.0" cornerTh="30.0" 
                     jumpCornerTh_1="60.0" jumpCornerTh_2="15.0" />
        
        <!-- 斜率参数 -->
        <SlopeParam LSlopeZWin="10.0" validSlopeH="10.0" minLJumpH="20.0" minEndingGap="20.0" />
        
        <!-- 山谷参数 -->
        <ValleyParam valleyMinH="10.0" valleyMaxW="80.0" />
        
        <!-- 增长参数 -->
        <GrowParam maxLineSkipNum="5" yDeviation_max="20.0" maxSkipDistance="20.0" 
                   zDeviation_max="80.0" minLTypeTreeLen="50.0" minVTypeTreeLen="50.0" />
        
        <!-- HSV颜色比较参数 -->
        <HsvCmpParam hueTh="15.0" saturateTh="120.0" FBVldPtRatioTh="0.075" 
                     frontVldPtGreater="true" front_upVldPtGreater="false" back_upVldPtGreater="true" />
        
        <!-- RGB颜色模式 -->
        <RgbColorPattern r="36" g="165" b="208" />
        
        <!-- 颜色模板参数 -->
        <ColorTemplateParam>
            <FrontColorTemplate>0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0</FrontColorTemplate>
            <BackColorTemplate>0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0</BackColorTemplate>
        </ColorTemplateParam>
        
        <!-- 多相机平面校准参数 -->
        <PlaneCalibParams>
            <!-- 相机1的调平参数 -->
            <CameraCalibParam cameraIndex="1" cameraName="摄像头1" isCalibrated="false"
                              planeHeight="-1.0" 
                              planeCalib_00="1.0" planeCalib_01="0.0" planeCalib_02="0.0"
                              planeCalib_10="0.0" planeCalib_11="1.0" planeCalib_12="0.0"
                              planeCalib_20="0.0" planeCalib_21="0.0" planeCalib_22="1.0"
                              invRMatrix_00="1.0" invRMatrix_01="0.0" invRMatrix_02="0.0"
                              invRMatrix_10="0.0" invRMatrix_11="1.0" invRMatrix_12="0.0"
                              invRMatrix_20="0.0" invRMatrix_21="0.0" invRMatrix_22="1.0" />
            
            <!-- 相机2的调平参数 -->
            <CameraCalibParam cameraIndex="2" cameraName="摄像头2" isCalibrated="false"
                              planeHeight="-1.0" 
                              planeCalib_00="1.0" planeCalib_01="0.0" planeCalib_02="0.0"
                              planeCalib_10="0.0" planeCalib_11="1.0" planeCalib_12="0.0"
                              planeCalib_20="0.0" planeCalib_21="0.0" planeCalib_22="1.0"
                              invRMatrix_00="1.0" invRMatrix_01="0.0" invRMatrix_02="0.0"
                              invRMatrix_10="0.0" invRMatrix_11="1.0" invRMatrix_12="0.0"
                              invRMatrix_20="0.0" invRMatrix_21="0.0" invRMatrix_22="1.0" />
        </PlaneCalibParams>
        
    </AlgorithmParams>
    <!-- 项目类型 -->
    <ProjectType type="GrabBag" />
    <!-- 调试参数 -->
    <DebugParam enableDebug="false" savePointCloud="false" saveDebugImage="false"  printDetailLog="false" debugOutputPath="./debug" />
    
    <!-- 串口配置 -->
    <SerialConfig portName="COM1" baudRate="9600" dataBits="8" stopBits="1" parity="0" flowControl="0" enabled="false" />
</GrabBagConfig>