2026-03-11 23:40:06 +08:00
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<?xml version="1.0" encoding="UTF-8"?>
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<HoleDetectionConfig>
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<Cameras>
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<Camera name="Camera1" ip="192.168.1.100"/>
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<Camera name="Camera2" ip="192.168.1.101"/>
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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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2026-04-02 22:17:20 +08:00
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<RansacParam
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distanceThreshold="0.5"
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maxIterations="500"
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minPlanePoints="100"
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maxPlanes="5"
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growthZThreshold="1.0"
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2026-04-08 00:05:43 +08:00
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minPlaneRatio="0.1"
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maxNormalAngleDeg="30.0"
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maxDistFromPlane="1.0"/>
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2026-04-02 22:17:20 +08:00
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<DetectionParam
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angleThresholdPos="50.0"
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angleThresholdNeg="-50.0"
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angleSearchDistance="2.0"
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minPitDepth="1.0"
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minRadius="2.0"
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maxRadius="50.0"
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expansionSize1="5"
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expansionSize2="10"
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minVTransitionPoints="1"
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jumpThresholdResidual="0.0"
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gapJumpThresholdResidual="0.0"
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maxGapPointsInLine="12"
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minFeatureSpan="2.0"
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residualSmoothWindow="5"
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slopeAngleThreshold="3.0"
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edgeBoundaryFilterDist="0.0"/>
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<FilterParam
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maxEccentricity="0.99995"
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minAngularCoverage="10.0"
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maxRadiusFitRatio="1.0"
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minQualityScore="0.0"
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maxPlaneResidual="10.0"
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maxAngularGap="90.0"
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minInlierRatio="0.0"
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2026-04-02 09:52:45 +08:00
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minHoleDepth="2.5"/>
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2026-03-11 23:40:06 +08:00
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<SortMode value="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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2026-03-25 09:35:56 +08:00
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<HandEyeCalibMatrixs>
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2026-03-11 23:40:06 +08:00
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<HandEyeCalibMatrix cameraIndex="1" 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" eulerOrder="11"/>
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2026-03-25 09:35:56 +08:00
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</HandEyeCalibMatrixs>
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2026-03-11 23:40:06 +08:00
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<TcpServerConfig tcpServerPort="7800" poseOutputOrder="0" dirVectorInvert="3"/>
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</HoleDetectionConfig>
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