52 lines
3.8 KiB
XML
52 lines
3.8 KiB
XML
<?xml version="1.0" encoding="UTF-8"?>
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<ParkingSpaceGuideConfig>
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<MvsCamera enabled="true" serialNumber="" deviceIndex="0" frameRate="10"
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autoExposureEnabled="true" exposureRoiX="0" exposureRoiY="0"
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exposureRoiWidth="0" exposureRoiHeight="0"
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exposureReferenceGray="105" exposureGrayTolerance="10"/>
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<RsLidar lidarType="RSEM4" hostAddress="0.0.0.0" msopPort="6699" difopPort="7788" imuPort="0" minDistance="0" maxDistance="0" densePoints="false" useLidarClock="false" tsFirstPoint="false" waitForDifop="false" startAngle="0" endAngle="360" splitAngle="0" frameId="rslidar" socketRecvBufBytes="33554432"/>
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<LedDisplay ip="192.168.1.100" port="5005" slaveId="65534" startAddress="0" timeoutMs="1000" enabled="false" controllerType="254" areaX="0" areaY="0" areaWidth="64" areaHeight="32" dynamicTimeoutSec="10" displayMode="1" speed="2" stayTime="10"/>
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<UdpBroadcast enabled="false" address="239.255.0.1" port="8800" targetId="T001" parkId="P01"/>
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<HttpServer enabled="true" address="0.0.0.0" port="8801" maxQueued="16" maxThreads="4"/>
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<HttpFlvStream enabled="true" publishHost="127.0.0.1" publishPort="1935"
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publishPath="/live/parking" httpPort="8080"
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fps="10" gop="10" bitrateKbps="4096"/>
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<RemoteView enabled="true" discoveryPort="5555" controlPort="15655"
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publishPort="15656" topic="parking_guide"/>
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<EmergencyStop enabled="true"
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directionPath="/sys/external_gpio/jwsioc_inout_gpio3"
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valuePath="/sys/external_gpio/jwsioc_gpio3"
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pollIntervalMs="10"
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debounceMs="50" reconnectIntervalMs="1000"/>
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<AlgorithmParams>
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<PlaneParkingParam parkingPointX="0" parkingPointY="0" parkingPointZ="0"
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guideLinePointX="0" guideLinePointY="20000" guideLinePointZ="0"
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guidingRange="50000" parkingRange="10000" distFromNoseToWheel="4000"/>
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<PlaneGroundCalibrationParam planeHeight="-1">
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<PlaneCalib m00="1" m01="0" m02="0" m10="0" m11="1" m12="0" m20="0" m21="0" m22="1"/>
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<InvRMatrix m00="1" m01="0" m02="0" m10="0" m11="1" m12="0" m20="0" m21="0" m22="1"/>
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</PlaneGroundCalibrationParam>
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<PlaneTreeGrowParam yDeviationMax="300" zDeviationMax="300" maxLineSkipNum="10"
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maxSkipDistance="300" minLTypeTreeLen="500" minVTypeTreeLen="500"/>
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<GuideDecisionParam lateralTolerance="100" angleTolerance="5"/>
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<ParkingProcessParam dockingStartDistance="100000" captureStartDistance="80000"
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approachStartDistance="25000" slowDistance="15000"
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stopDistanceTolerance="100" overshootDistance="500"
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stoppedShortMinDistance="300" maxApproachSpeed="2000"
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stoppedSpeedThreshold="100" speedFilterAlpha="0.3"
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distanceChangeThreshold="10000"
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lateralOffsetChangeThreshold="3000"
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stopStableFrames="5" stoppedShortStableFrames="5"
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errorFrameThreshold="10" lostFrameThreshold="5"
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completedHoldFrames="3"/>
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<ModelRecognitionParam modelVerifyDistance="25000"
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roiX="0" roiY="0" roiWidth="1" roiHeight="1"
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confidenceThreshold="0.6" maxRecognitionAttempts="2"/>
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<PersonDetectionParam enabled="true" roiX="0" roiY="0"
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roiWidth="1" roiHeight="1"
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confidenceThreshold="0.5" stableFrames="3"
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detectionIntervalMs="500"/>
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</AlgorithmParams>
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<DebugParam enableDebug="false" savePointCloud="false" saveDebugImage="false" printDetailLog="true" debugOutputPath=""/>
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</ParkingSpaceGuideConfig>
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