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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<DetectionParam neighborCount="3" angleThresholdPos="10.0" angleThresholdNeg="-10.0"
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minPitDepth="1.0" angleStep="1.0" maxScanRadius="100.0" clusterEps="5.0"
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clusterMinPoints="5" minRadius="5.0" maxRadius="50.0" expansionSize1="5"
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expansionSize2="10" validZThreshold="0.0001" minVTransitionPoints="1"
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cornerScale="2.0" cornerAngleThreshold="45.0" jumpCornerTh_1="10.0"
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jumpCornerTh_2="30.0" minEndingGap="5.0" minEndingGap_z="1.0"/>
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<FilterParam minHoleRadius="1.0" maxHoleRadius="10.0" maxEccentricity="0.99995"
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maxCornerRatio="0.15" minAngularCoverage="10.0" maxRadiusFitRatio="0.3"
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minQualityScore="0.3" maxPlaneResidual="10.0" maxAngularGap="90.0" minInlierRatio="0.3"/>
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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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