47 lines
3.0 KiB
XML
47 lines
3.0 KiB
XML
<?xml version="1.0" encoding="UTF-8"?>
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<StatorWorkpiecePositionConfig>
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<Cameras>
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<Camera name="Camera1" ip=""/>
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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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<ToolParam eulerOrder="11" rotX="0.0" rotY="0.0" rotZ="0.0"
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offsetX="0.0" offsetY="0.0" offsetZ="0.0"/>
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<!-- 2D模型类别到 hybridPosePositioning 的 workpieceType 映射。
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默认对齐算法 test: class 0/1/2 -> workpieceType 1/2/3。
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将某个 classXWorkpieceType 配为 0 或负数可忽略该类别。 -->
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<WorkpieceModelParam minimumScore="0.6"
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class0WorkpieceType="1"
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class1WorkpieceType="2"
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class2WorkpieceType="3"/>
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<FullImageCaptureParam exposure="50000" gain="2"/>
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<!-- 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。 -->
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<BinParam useConfiguredBin="false" binHeight="120.0"
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length="0.0" width="0.0" binTopZ="0.0"
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center0="0.0" center1="0.0" center2="0.0"
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bottomNormal0="0.0" bottomNormal1="0.0" bottomNormal2="1.0"
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xDir0="1.0" xDir1="0.0" xDir2="0.0"
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yDir0="0.0" yDir1="1.0" yDir2="0.0"
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minRectVertex0_0="0.0" minRectVertex0_1="0.0" minRectVertex0_2="0.0"
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minRectVertex1_0="0.0" minRectVertex1_1="0.0" minRectVertex1_2="0.0"
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minRectVertex2_0="0.0" minRectVertex2_1="0.0" minRectVertex2_2="0.0"
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minRectVertex3_0="0.0" minRectVertex3_1="0.0" minRectVertex3_2="0.0"/>
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<RotorCoreParam radius="45.0" height="20.0"/>
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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" eulerOrder="11"/>
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<TcpServerConfig robotServerPort="7800" addrTrigger="0" addrWorkStatus="1" addrCoordDataStart="2" poseOutputOrder="0" dirVectorInvert="3" byteOrder="0"/>
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</StatorWorkpiecePositionConfig>
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