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