47 lines
3.0 KiB
XML
47 lines
3.0 KiB
XML
|
<?xml version="1.0" encoding="UTF-8"?>
|
||
|
|
<StatorWorkpiecePositionConfig>
|
||
|
|
<Cameras>
|
||
|
|
<Camera name="Camera1" ip=""/>
|
||
|
|
</Cameras>
|
||
|
|
<Devices>
|
||
|
|
<Device name="Robot" ip="192.168.1.200"/>
|
||
|
|
</Devices>
|
||
|
|
<AlgorithmParams>
|
||
|
|
<ToolParam eulerOrder="11" rotX="0.0" rotY="0.0" rotZ="0.0"
|
||
|
|
offsetX="0.0" offsetY="0.0" offsetZ="0.0"/>
|
||
|
|
<!-- 2D模型类别到 hybridPosePositioning 的 workpieceType 映射。
|
||
|
|
默认对齐算法 test: class 0/1/2 -> workpieceType 1/2/3。
|
||
|
|
将某个 classXWorkpieceType 配为 0 或负数可忽略该类别。 -->
|
||
|
|
<WorkpieceModelParam minimumScore="0.6"
|
||
|
|
class0WorkpieceType="1"
|
||
|
|
class1WorkpieceType="2"
|
||
|
|
class2WorkpieceType="3"/>
|
||
|
|
<FullImageCaptureParam exposure="50000" gain="2"/>
|
||
|
|
<!-- Rotor 项目使用：先通过协议触发料框检测并缓存；未缓存时可启用 useConfiguredBin 使用这里的近似料框。 -->
|
||
|
|
<BinParam useConfiguredBin="false" binHeight="120.0"
|
||
|
|
length="0.0" width="0.0" binTopZ="0.0"
|
||
|
|
center0="0.0" center1="0.0" center2="0.0"
|
||
|
|
bottomNormal0="0.0" bottomNormal1="0.0" bottomNormal2="1.0"
|
||
|
|
xDir0="1.0" xDir1="0.0" xDir2="0.0"
|
||
|
|
yDir0="0.0" yDir1="1.0" yDir2="0.0"
|
||
|
|
minRectVertex0_0="0.0" minRectVertex0_1="0.0" minRectVertex0_2="0.0"
|
||
|
|
minRectVertex1_0="0.0" minRectVertex1_1="0.0" minRectVertex1_2="0.0"
|
||
|
|
minRectVertex2_0="0.0" minRectVertex2_1="0.0" minRectVertex2_2="0.0"
|
||
|
|
minRectVertex3_0="0.0" minRectVertex3_1="0.0" minRectVertex3_2="0.0"/>
|
||
|
|
<RotorCoreParam radius="45.0" height="20.0"/>
|
||
|
|
<PlaneCalibParams>
|
||
|
|
<CameraCalibParam cameraIndex="1" cameraName="Camera1" 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>
|
||
|
|
<DebugParam enableDebug="false" savePointCloud="false" saveDebugImage="false" printDetailLog="false" debugOutputPath="./debug"/>
|
||
|
|
<SerialConfig portName="COM1" baudRate="115200" dataBits="8" stopBits="1" parity="0" flowControl="0" enabled="false"/>
|
||
|
|
<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" eulerOrder="11"/>
|
||
|
|
<TcpServerConfig robotServerPort="7800" addrTrigger="0" addrWorkStatus="1" addrCoordDataStart="2" poseOutputOrder="0" dirVectorInvert="3" byteOrder="0"/>
|
||
|
|
</StatorWorkpiecePositionConfig>
|