31 lines
2.1 KiB
XML
31 lines
2.1 KiB
XML
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<?xml version="1.0" encoding="UTF-8"?>
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<StatorPositionConfig>
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<Cameras>
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<Camera name="Camera1" ip="192.168.1.100"/>
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</Cameras>
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<Devices>
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<Device name="Robot" ip="192.168.1.200"/>
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</Devices>
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<AlgorithmParams>
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<StatorParam statorOuterD="85.0" statorInnerD="50.0" statorHeight="100.0"
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plateThickness="8.0" plateW="500.0" plateH="300.0"/>
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<CornerParam minEndingGap="20.0" minEndingGap_z="20.0" scale="5.0"
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cornerTh="75.0" jumpCornerTh_1="20.0" jumpCornerTh_2="60.0"/>
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<FilterParam continuityTh="20.0" outlierTh="5.0"/>
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<GrowParam maxLineSkipNum="10" yDeviation_max="10.0" maxSkipDistance="10.0" zDeviation_max="10.0" minLTypeTreeLen="100.0" minVTypeTreeLen="100.0"/>
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<PlaneCalibParams>
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<CameraCalibParam cameraIndex="1" cameraName="Camera1" isCalibrated="false" 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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<DebugParam enableDebug="false" savePointCloud="false" saveDebugImage="false" printDetailLog="false" debugOutputPath="./debug"/>
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<SerialConfig portName="COM1" baudRate="115200" dataBits="8" stopBits="1" parity="0" flowControl="0" enabled="false"/>
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<HandEyeCalibMatrix m0="1" m1="0" m2="0" m3="0" m4="0" m5="1" m6="0" m7="0" m8="0" m9="0" m10="1" m11="0" m12="0" m13="0" m14="0" m15="1"/>
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<TcpServerConfig plcServerIp="192.168.0.88" plcServerPort="502" robotServerIp="192.168.0.90" robotServerPort="502" addrPhotoRequest="1001" addrDataComplete="1003" addrCoordDataStart="2002" poseOutputOrder="0" dirVectorInvert="3"/>
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</StatorPositionConfig>
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