diff --git a/App/GrabBag/Doc/视觉方案.docx b/App/GrabBag/Doc/视觉方案.docx
index fcc445d..4a686f7 100644
--- a/App/GrabBag/Doc/视觉方案.docx
+++ b/App/GrabBag/Doc/视觉方案.docx
@@ -1,15 +1,15 @@
 一、设备布局缩略图：
 
 二、工艺流程：
-1、启动机械臂
-2、机械臂运行至拍照位启动拍照
-3、相机拍照，给出位置信号（位置、角度、高度、有无料）；若无料至第8步
-4、机械臂抓料
-5、机械臂破袋下料
-6、机械臂扔袋子、启动拍照；若无料至第8步
-7、到第3步
-8、机械臂等待新的物料到位
-9、到第2步
+  1、启动机械臂
+  2、机械臂运行至拍照位启动拍照
+  3、相机拍照，给出位置信号（位置、角度、高度、有无料）；若无料至第8步
+  4、机械臂抓料
+  5、机械臂破袋下料
+  6、机械臂扔袋子、启动拍照；若无料至第8步
+  7、到第3步
+  8、机械臂等待新的物料到位
+  9、到第2步
 三、功能要求：
     1、一台触控一体机连两台视觉。
   2、袋子有9种，实际可制作的视觉模版要大于9，通过机械臂发送调用几号视觉模版和视觉拍照启动信号，视觉反馈给机械臂位置信号。
diff --git a/App/GrabBag/GrabBagApp/GrabBagApp.pro b/App/GrabBag/GrabBagApp/GrabBagApp.pro
index 5e2e5e5..3459b97 100644
--- a/App/GrabBag/GrabBagApp/GrabBagApp.pro
+++ b/App/GrabBag/GrabBagApp/GrabBagApp.pro
@@ -6,11 +6,22 @@ greaterThan(QT_MAJOR_VERSION, 4): QT += widgets
 TEMPLATE = app
 
 CONFIG += c++17
-# Add /utf-8 flag only for MSVC builds to enforce UTF-8 encoding
-win32-msvc {
-    QMAKE_CXXFLAGS += /utf-8
+# 为MinGW编译器添加更多UTF-8支持
+win32-g++ {
+    QMAKE_CXXFLAGS += -fexec-charset=UTF-8 -finput-charset=UTF-8
 }
 
+# 为MSVC编译器添加更多UTF-8支持
+win32-msvc {
+    QMAKE_CXXFLAGS += /utf-8
+    QMAKE_CFLAGS += /utf-8
+}
+
+# Windows平台特定设置
+win32 {
+    # 确保链接Windows控制台API
+    LIBS += -lkernel32
+}
 
 # You can make your code fail to compile if it uses deprecated APIs.
 # In order to do so, uncomment the following line.
@@ -179,3 +190,6 @@ unix {
 qnx: target.path = /tmp/$${TARGET}/bin
 else: unix:!android: target.path = /opt/$${TARGET}/bin
 !isEmpty(target.path): INSTALLS += target
+
+DISTFILES += \
+    Version.md
diff --git a/App/GrabBag/GrabBagApp/Presenter/Inc/GrabBagPresenter.h b/App/GrabBag/GrabBagApp/Presenter/Inc/GrabBagPresenter.h
index 7e8418d..f5eae0a 100644
--- a/App/GrabBag/GrabBagApp/Presenter/Inc/GrabBagPresenter.h
+++ b/App/GrabBag/GrabBagApp/Presenter/Inc/GrabBagPresenter.h
@@ -33,6 +33,7 @@ struct CurrentExecutionParams
     VrCameraParams cameraParam;             // 相机参数
     SSG_planeCalibPara planeCalibParam;     // 调平参数
     CalibMatrix handEyeCalibMatrix;         // 手眼标定参数
+    VrBagParam bagParam;                    // 包裹参数（尺寸）
 };
 
 class GrabBagPresenter : public QObject, public IVrConfigChangeNotify, public IConfigChangeListener
@@ -50,7 +51,7 @@ public:
     void SetStatusCallback(IYGrabBagStatus* status);
     
     // 开始检测
-    int StartDetection(int cameraIndex = -1, bool isAuto = true);  // cameraIndex: -1表示所有相机，1/2...表示特定相机
+    int StartDetection(int cameraIndex = -1, bool isAuto = true, bool updateParams = true);  // cameraIndex: -1表示所有相机，1/2...表示特定相机; updateParams: 是否更新执行参数
 
     // 停止检测
     int StopDetection();
@@ -124,6 +125,12 @@ private:
 
     // TCP客户端连接状态回调处理方法
     void onTcpClientEventFromCallback(const TCPClient* pClient, TCPServerEventType eventType);
+
+    // TCP协议解析和处理函数
+    bool _ParseNewFormatProtocol(const QString& qData, int& cameraIndex, int& templateIndex, QString& triggerCmd);
+    bool _ParseOldFormatProtocol(const QString& qData, int& cameraIndex, int& templateIndex, QString& triggerCmd);
+    bool _ParseSimpleProtocol(const QString& qData, int& cameraIndex, int& templateIndex, QString& triggerCmd);
+    bool _HandleTrigCommand(const TCPClient* pClient, int cameraIndex, int templateIndex);
     
     // 算法初始化接口
     int InitAlgorithmParams();
@@ -138,6 +145,9 @@ private:
     
     // 连接状态检查和更新
     void CheckAndUpdateWorkStatus();
+
+    // 设置工作状态（同时通知UI）
+    void SetWorkStatus(WorkStatus status);
     
     // 打开相机
     int _OpenDevice(int cameraIndex, const char* cameraName, const char* cameraIp, ProjectType& projectType);
@@ -169,6 +179,7 @@ private:
     void _LoadCurrentWorkPositionAndPackageType();
     int _ApplyCameraParameters();
     void _UpdateCurrentExecutionParams();
+    void _UpdateCurrentExecutionParams(const WorkPositionConfig* workPosition, const CameraConfig* camera, const PackageTypeConfig* package, int cameraIndex);
 
     // 相机重连定时器相关方法
     void _StartCameraReconnectTimer();
@@ -224,12 +235,7 @@ private:
     std::vector<DeviceInfo>         m_cameraConfigList;        // 保存配置的相机列表
     int                             m_expectedCameraCount = 0;  // 期望的相机数量
 
-    // 工作点、相机和包裹类型管理（三级结构：工作点->相机->包裹）
-    std::string                     m_currentWorkPositionId;      // 当前工作点ID
-    std::string                     m_currentCameraId;            // 当前相机ID
-    std::string                     m_currentPackageTypeId;       // 当前包裹类型ID
-    int                             m_currentWorkPositionIndex;   // 当前工作点索引（-1表示使用全局默认参数）
-    int                             m_currentPackageTypeIndex;    // 当前包裹类型索引（-1表示使用全局默认参数）
+    // 当前执行参数（包含工作点、相机、包裹的完整配置信息）
     CurrentExecutionParams          m_currentExecutionParams;     // 当前执行参数
 };
 
diff --git a/App/GrabBag/GrabBagApp/Presenter/Src/GrabBagPresenter.cpp b/App/GrabBag/GrabBagApp/Presenter/Src/GrabBagPresenter.cpp
index d375e1a..1b0f862 100644
--- a/App/GrabBag/GrabBagApp/Presenter/Src/GrabBagPresenter.cpp
+++ b/App/GrabBag/GrabBagApp/Presenter/Src/GrabBagPresenter.cpp
@@ -36,8 +36,6 @@ GrabBagPresenter::GrabBagPresenter(QObject *parent)
     , m_bCameraConnected(false)
     , m_bRobotConnected(false)
     , m_currentWorkStatus(WorkStatus::Error)
-    , m_currentWorkPositionIndex(-1)
-    , m_currentPackageTypeIndex(-1)
 {
     m_detectionDataCache.clear();
 
@@ -291,7 +289,7 @@ int GrabBagPresenter::InitCamera(std::vector<DeviceInfo>& cameraList)
         m_pStatus->OnStatusUpdate("启动重新连接相机...");
         _StartCameraReconnectTimer();
     } else if (allCamerasConnected) {
-        LOG_INFO("All cameras connected successfully\\n");
+        LOG_INFO("All cameras connected successfully \n");
         m_pStatus->OnStatusUpdate("所有相机连接成功");
         // 确保定时器停止
         _StopCameraReconnectTimer();
@@ -457,225 +455,241 @@ void GrabBagPresenter::onTcpDataReceivedFromCallback(const TCPClient* pClient, c
 
     LOG_INFO("TCP data received from client %p: %s\n", pClient, qData.toStdString().c_str());
 
-    // 生成客户端ID用于标识
-    QString clientId = QString("Client_%1").arg(reinterpret_cast<intptr_t>(pClient));
-
     if (m_pStatus) {
         m_pStatus->OnStatusUpdate("收到TCP数据: " + qData.toStdString());
     }
 
-    // 解析命令格式：@，视觉号，视觉模版号，启动信息，$
-    // 示例：@，1，3，Trig，$ 表示触发1号视觉（相机）拍照，调用3号视觉模版，发出Trig拍照命令
-    // 兼容旧格式：@3，Trig$ 或 Trig
-
     int cameraIndex = -1;     // 相机编号（视觉号）
     int templateIndex = -1;   // 视觉模板编号
     QString triggerCmd;       // 启动信息（Trig等）
 
-    // 方法1：尝试解析新格式 @，视觉号，视觉模版号，启动信息，$
-    // 正则表达式：@[,，]\s*(-?\d+)\s*[,，]\s*(-?\d+)\s*[,，]\s*(\w+)
-    // 支持负数（-1表示使用默认相机/模板）
-    QRegularExpression newFormatRegex("@[,，]\\s*(-?\\d+)\\s*[,，]\\s*(-?\\d+)\\s*[,，]\\s*(\\w+)");
-    QRegularExpressionMatch newFormatMatch = newFormatRegex.match(qData);
+    // 尝试按优先级解析协议：新格式 -> 旧格式 -> 简单格式
+    bool parsed = _ParseNewFormatProtocol(qData, cameraIndex, templateIndex, triggerCmd);
+    if (!parsed) {
+        parsed = _ParseOldFormatProtocol(qData, cameraIndex, templateIndex, triggerCmd);
+    }
+    if (!parsed) {
+        parsed = _ParseSimpleProtocol(qData, cameraIndex, templateIndex, triggerCmd);
+    }
 
-    if (newFormatMatch.hasMatch()) {
-        // 新格式解析成功
-        cameraIndex = newFormatMatch.captured(1).toInt();
-        templateIndex = newFormatMatch.captured(2).toInt();
-        triggerCmd = newFormatMatch.captured(3);
-
-        LOG_INFO("Parsed new format command: camera=%d, template=%d, trigger=%s\n", cameraIndex, templateIndex, triggerCmd.toStdString().c_str());
-
-        // 如果相机索引为-1，使用当前默认相机
-        if (cameraIndex == -1) {
-            cameraIndex = m_currentCameraIndex;
-            LOG_INFO("Camera index is -1, using current default camera: %d\n", cameraIndex);
-        }
-
-        // 如果模板索引为-1或0，表示使用当前模板（不切换）
-        if (templateIndex == -1 || templateIndex == 0) {
-            LOG_INFO("Template index is %d, will use current template (no switch)\n", templateIndex);
-            templateIndex = -1;  // 标准化为-1表示不切换
-        }
-    } else {
-        // 方法2：尝试解析旧格式 @模板编号，Trig$ 或 @模板编号Trig
-        QRegularExpression oldFormatRegex("@(\\d+).*Trig");
-        QRegularExpressionMatch oldFormatMatch = oldFormatRegex.match(qData);
-
-        if (oldFormatMatch.hasMatch()) {
-            // 旧格式解析成功（只有模板编号）
-            templateIndex = oldFormatMatch.captured(1).toInt();
-            cameraIndex = m_currentCameraIndex;  // 使用当前默认相机
-            triggerCmd = "Trig";
-
-            LOG_INFO("Parsed old format command: template=%d, using current camera=%d\n", templateIndex, cameraIndex);
-        } else if (qData.contains("Trig", Qt::CaseInsensitive)) {
-            // 方法3：简单的Trig命令（不切换模板和相机）
-            cameraIndex = m_currentCameraIndex;
-            templateIndex = -1;  // 不切换模板
-            triggerCmd = "Trig";
-
-            LOG_INFO("Parsed simple Trig command, using current camera=%d and template\n", cameraIndex);
-        } else {
-            // 未识别的命令
-            LOG_WARNING("Unknown TCP command received: %s\n", qData.toStdString().c_str());
-            if (m_pStatus) {
-                m_pStatus->OnStatusUpdate("未知TCP命令: " + qData.toStdString());
-            }
-
-            // 发送错误响应
-            std::string err = "Unknown_Command";
-            m_pTcpServer->SendData(pClient, err.c_str(), err.length());
-            return;
+    // 如果所有格式都无法解析，返回错误
+    if (!parsed) {
+        LOG_WARNING("Unknown TCP command received: %s\n", qData.toStdString().c_str());
+        if (m_pStatus) {
+            m_pStatus->OnStatusUpdate("未知TCP命令: " + qData.toStdString());
         }
+        std::string err = "Unknown_Command";
+        m_pTcpServer->SendData(pClient, err.c_str(), err.length());
+        return;
     }
 
     // 处理Trig命令
     if (triggerCmd.contains("Trig", Qt::CaseInsensitive)) {
-        // 1. 验证相机编号有效性
-        if (cameraIndex < 1 || cameraIndex > static_cast<int>(m_vrEyeDeviceList.size())) {
-            LOG_ERROR("Invalid camera index: %d, valid range: 1-%zu\n", cameraIndex, m_vrEyeDeviceList.size());
-
-            if (m_pStatus) {
-                m_pStatus->OnStatusUpdate(QString("无效的相机编号: %1").arg(cameraIndex).toStdString());
-            }
-
-            // 发送错误响应
-            QString response = QString("Error_Invalid_Camera_%1").arg(cameraIndex);
-            m_pTcpServer->SendData(pClient, response.toStdString().c_str(), response.toStdString().length());
-            return;
+        bool bRet = _HandleTrigCommand(pClient, cameraIndex, templateIndex);
+        if(!bRet){
+            SetWorkStatus(WorkStatus::Error);
         }
-
-        // 检查相机是否已连接
-        if (m_vrEyeDeviceList[cameraIndex - 1].second == nullptr) {
-            LOG_ERROR("Camera %d is not connected\n", cameraIndex);
-
-            if (m_pStatus) {
-                QString cameraName = QString::fromStdString(m_vrEyeDeviceList[cameraIndex - 1].first);
-                m_pStatus->OnStatusUpdate(QString("相机%1未连接").arg(cameraName).toStdString());
-            }
-
-            // 发送错误响应
-            QString response = QString("Error_Camera_%1_Not_Connected").arg(cameraIndex);
-            m_pTcpServer->SendData(pClient, response.toStdString().c_str(), response.toStdString().length());
-            return;
-        }
-
-        // 2. 如果指定了模板编号，进行模板切换
-        if (templateIndex > 0) {
-            // 在新的三级结构中，需要找到指定相机下的包裹
-            // 首先获取当前工作点
-            WorkPositionConfig* currentWorkPosition = nullptr;
-            for (auto& wp : m_configResult.workPositions) {
-                if (wp.id == m_currentWorkPositionId) {
-                    currentWorkPosition = &wp;
-                    break;
-                }
-            }
-
-            if (!currentWorkPosition) {
-                LOG_ERROR("No current work position found (ID: %s), cannot switch template\n",
-                         m_currentWorkPositionId.c_str());
-                QString response = QString("Error_No_Work_Position");
-                m_pTcpServer->SendData(pClient, response.toStdString().c_str(), response.toStdString().length());
-                return;
-            }
-
-            // 从工作点中找到对应cameraIndex的相机配置
-            CameraConfig* targetCamera = currentWorkPosition->GetCameraByIndex(cameraIndex);
-            if (!targetCamera) {
-                LOG_ERROR("No camera config found for camera index %d in work position %s\n",
-                         cameraIndex, m_currentWorkPositionId.c_str());
-                QString response = QString("Error_No_Camera_Config_%1").arg(cameraIndex);
-                m_pTcpServer->SendData(pClient, response.toStdString().c_str(), response.toStdString().length());
-                return;
-            }
-
-            // 验证模板编号的有效性（1-based索引，对应相机下的包裹列表）
-            if (templateIndex < 1 || templateIndex > static_cast<int>(targetCamera->packages.size())) {
-                LOG_ERROR("Invalid template index: %d for camera %d, valid range: 1-%zu\n",
-                         templateIndex, cameraIndex, targetCamera->packages.size());
-
-                if (m_pStatus) {
-                    m_pStatus->OnStatusUpdate(QString("相机%1的无效模板编号: %2").arg(cameraIndex).arg(templateIndex).toStdString());
-                }
-
-                // 发送错误��应
-                QString response = QString("Error_Invalid_Template_%1_For_Camera_%2").arg(templateIndex).arg(cameraIndex);
-                m_pTcpServer->SendData(pClient, response.toStdString().c_str(), response.toStdString().length());
-                return;
-            }
-
-            // 切换到指定的包裹类型（视觉模板）
-            const PackageTypeConfig& selectedPackage = targetCamera->packages[templateIndex - 1];
-            m_currentCameraId = targetCamera->id;
-            m_currentPackageTypeId = selectedPackage.id;
-            std::string templateName = selectedPackage.name;
-
-            LOG_INFO("Switched to template %d for camera %d: %s (Camera ID: %s, Package ID: %s)\n",
-                    templateIndex, cameraIndex, templateName.c_str(),
-                    m_currentCameraId.c_str(), m_currentPackageTypeId.c_str());
-
-            if (m_pStatus) {
-                m_pStatus->OnStatusUpdate(QString("切换到相机%1的视觉模板%2: %3")
-                    .arg(cameraIndex)
-                    .arg(templateIndex)
-                    .arg(QString::fromStdString(templateName)).toStdString());
-            }
-
-            // 更新执行参数（使用新的模板配置）
-            // 注意：这里需要先设置相机索引，以便_UpdateCurrentExecutionParams使用正确的相机
-            int savedCameraIndex = m_currentCameraIndex;
-            m_currentCameraIndex = cameraIndex;
-            _UpdateCurrentExecutionParams();
-            m_currentCameraIndex = savedCameraIndex;  // 恢复原来的默认相机
-        }
-
-        // 3. 显示状态信息
-        QString cameraName = (cameraIndex >= 1 && cameraIndex <= static_cast<int>(m_vrEyeDeviceList.size())) ?
-            QString::fromStdString(m_vrEyeDeviceList[cameraIndex - 1].first) :
-            QString("相机%1").arg(cameraIndex);
-
-        if (m_pStatus) {
-            if (templateIndex > 0) {
-                m_pStatus->OnStatusUpdate(QString("收到触发命令[相机%1，模板%2]，启动%3检测")
-                    .arg(cameraIndex).arg(templateIndex).arg(cameraName).toStdString());
-            } else {
-                m_pStatus->OnStatusUpdate(QString("收到触发命令，启动%1检测")
-                    .arg(cameraName).toStdString());
-            }
-        }
-
-        LOG_INFO("Starting detection with camera %d (template %d)\n", cameraIndex, templateIndex);
-
-        // 4. 启动指定相机的检测（非自动模式）
-        int result = StartDetection(cameraIndex, false);
-
-        // 5. 发送响应给客户端
-        QString response;
-        if (result != SUCCESS) {
-            response = QString("Error_%1").arg(result);
-            LOG_ERROR("Failed to start camera %d detection, error: %d\n", cameraIndex, result);
-        } else {
-            response = QString("OK_Camera_%1_Template_%2").arg(cameraIndex).arg(templateIndex);
-            LOG_INFO("Detection started successfully: camera %d, template %d\n", cameraIndex, templateIndex);
-        }
-
-        // 向客户端发送响应
-        m_pTcpServer->SendData(pClient, response.toStdString().c_str(), response.toStdString().length());
     } else {
         // 其他启动命令（未来扩展）
         LOG_WARNING("Unknown trigger command: %s\n", triggerCmd.toStdString().c_str());
         if (m_pStatus) {
             m_pStatus->OnStatusUpdate("未知触发命令: " + triggerCmd.toStdString());
         }
-
-        // 发送错误响应
         std::string err = "Unknown_Trigger_Command";
         m_pTcpServer->SendData(pClient, err.c_str(), err.length());
     }
 }
 
+// 解析新格式协议：@，视觉号，视觉模版号，启动信息，$
+// 示例：@，1，3，Trig，$ 表示触发1号视觉（相机）拍照，调用3号视觉模版，发出Trig拍照命令
+bool GrabBagPresenter::_ParseNewFormatProtocol(const QString& qData, int& cameraIndex, int& templateIndex, QString& triggerCmd)
+{
+    // 正则表达式：@[,，]\s*(-?\d+)\s*[,，]\s*(-?\d+)\s*[,，]\s*(\w+)
+    // 支持负数（-1表示使用默认相机/模板）
+    QRegularExpression newFormatRegex("@[,，]\\s*(-?\\d+)\\s*[,，]\\s*(-?\\d+)\\s*[,，]\\s*(\\w+)");
+    QRegularExpressionMatch newFormatMatch = newFormatRegex.match(qData);
+
+    if (!newFormatMatch.hasMatch()) {
+        return false;
+    }
+
+    // 新格式解析成功（相机编号、模板编号、触发命令）
+    cameraIndex     = newFormatMatch.captured(1).toInt();
+    templateIndex   = newFormatMatch.captured(2).toInt();
+    triggerCmd      = newFormatMatch.captured(3);
+
+    LOG_INFO("Parsed new format command: camera=%d, template=%d, trigger=%s\n", cameraIndex, templateIndex, triggerCmd.toStdString().c_str());
+
+    // 如果相机索引为-1，使用当前默认相机
+    if (cameraIndex == -1) {
+        cameraIndex = m_currentCameraIndex;
+        LOG_INFO("Camera index is -1, using current default camera: %d\n", cameraIndex);
+    }
+
+    // 如果模板索引为-1或0，表示使用当前模板（不切换）
+    if (templateIndex == -1 || templateIndex == 0) {
+        LOG_INFO("Template index is %d, will use current template (no switch)\n", templateIndex);
+        templateIndex = -1;  // 标准化为-1表示不切换
+    }
+
+    return true;
+}
+
+// 解析旧格式协议：@模板编号，Trig$ 或 @模板编号Trig
+// 示例：@3，Trig$ 表示调用3号视觉模版
+bool GrabBagPresenter::_ParseOldFormatProtocol(const QString& qData, int& cameraIndex, int& templateIndex, QString& triggerCmd)
+{
+    QRegularExpression oldFormatRegex("@(\\d+).*Trig");
+    QRegularExpressionMatch oldFormatMatch = oldFormatRegex.match(qData);
+
+    if (!oldFormatMatch.hasMatch()) {
+        return false;
+    }
+
+    // 旧格式解析成功（只有模板编号）
+    templateIndex = oldFormatMatch.captured(1).toInt();
+    cameraIndex = m_currentCameraIndex;  // 使用当前默认相机
+    triggerCmd = "Trig";
+
+    LOG_INFO("Parsed old format command: template=%d, using current camera=%d\n", templateIndex, cameraIndex);
+    return true;
+}
+
+// 解析简单协议：Trig
+// 示例：Trig 表示使用当前相机和当前模板触发检测
+bool GrabBagPresenter::_ParseSimpleProtocol(const QString& qData, int& cameraIndex, int& templateIndex, QString& triggerCmd)
+{
+    if (!qData.contains("Trig", Qt::CaseInsensitive)) {
+        return false;
+    }
+
+    // 简单的Trig命令（不切换模板和相机）
+    cameraIndex = m_currentCameraIndex;
+    templateIndex = -1;  // 不切换模板
+    triggerCmd = "Trig";
+
+    LOG_INFO("Parsed simple Trig command, using current camera=%d and template\n", cameraIndex);
+    return true;
+}
+
+// 处理Trig命令
+bool GrabBagPresenter::_HandleTrigCommand(const TCPClient* pClient, int cameraIndex, int templateIndex)
+{
+    SetWorkStatus(WorkStatus::Working);
+    // 1. 验证相机编号有效性
+    if (cameraIndex < 1 || cameraIndex > static_cast<int>(m_vrEyeDeviceList.size())) {
+        LOG_ERROR("Invalid camera index: %d, valid range: 1-%zu\n", cameraIndex, m_vrEyeDeviceList.size());
+
+        if (m_pStatus) {
+            m_pStatus->OnStatusUpdate(QString("无效的相机编号: %1").arg(cameraIndex).toStdString());
+        }
+
+        // 发送错误响应
+        QString response = QString("Error_Invalid_Camera_%1").arg(cameraIndex);
+        m_pTcpServer->SendData(pClient, response.toStdString().c_str(), response.toStdString().length());
+        return false;
+    }
+
+    // 检查相机是否已连接
+    if (m_vrEyeDeviceList[cameraIndex - 1].second == nullptr) {
+        LOG_ERROR("Camera %d is not connected\n", cameraIndex);
+
+        if (m_pStatus) {
+            QString cameraName = QString::fromStdString(m_vrEyeDeviceList[cameraIndex - 1].first);
+            m_pStatus->OnStatusUpdate(QString("相机%1未连接").arg(cameraName).toStdString());
+        }
+
+        // 发送错误响应
+        QString response = QString("Error_Camera_%1_Not_Connected").arg(cameraIndex);
+        m_pTcpServer->SendData(pClient, response.toStdString().c_str(), response.toStdString().length());
+        return false;
+    }
+
+    // 2. 如果指定了模板编号，进行模板切换
+    if (templateIndex > 0) {
+        // 通过包裹ID（全局唯一）在配置文件中查询包裹、相机和工位信息
+        std::string packageId = "pkg_" + std::to_string(templateIndex);
+
+        WorkPositionConfig* foundWorkPosition = nullptr;
+        CameraConfig* foundCamera = nullptr;
+        PackageTypeConfig* foundPackage = nullptr;
+
+        // 遍历所有工位、相机、包裹，查找匹配的包裹ID
+        for (auto& wp : m_configResult.workPositions) {
+            for (auto& cam : wp.cameras) {
+                for (auto& pkg : cam.packages) {
+                    if (pkg.id == packageId) {
+                        foundWorkPosition = &wp;
+                        foundCamera = &cam;
+                        foundPackage = &pkg;
+                        break;
+                    }
+                }
+                if (foundPackage) break;
+            }
+            if (foundPackage) break;
+        }
+
+        // 检查是否找到包裹
+        if (!foundPackage || !foundCamera || !foundWorkPosition) {
+            LOG_ERROR("Package not found with ID: %s (template index: %d)\n", packageId.c_str(), templateIndex);
+
+            if (m_pStatus) {
+                m_pStatus->OnStatusUpdate(QString("未找到包裹ID: %1 (模板编号: %2)")
+                    .arg(QString::fromStdString(packageId))
+                    .arg(templateIndex).toStdString());
+            }
+
+            QString response = QString("Error_Package_Not_Found_%1").arg(templateIndex);
+            m_pTcpServer->SendData(pClient, response.toStdString().c_str(), response.toStdString().length());
+            return false;
+        }
+
+        // 验证找到的相机索引是否与请求的相机索引匹配
+        if (foundCamera->cameraIndex != cameraIndex) {
+            LOG_WARNING("Package %s belongs to camera %d, but requested camera is %d. Using package's camera.\n",
+                       packageId.c_str(), foundCamera->cameraIndex, cameraIndex);
+            // 更新相机索引为包裹所属的相机
+            cameraIndex = foundCamera->cameraIndex;
+        }
+
+        // 记录找到的配置信息
+        std::string templateName = foundPackage->name;
+
+        LOG_INFO("Switched to package by ID: %s (template index: %d)\n", packageId.c_str(), templateIndex);
+        LOG_INFO("  Work Position: %s (ID: %s)\n", foundWorkPosition->name.c_str(), foundWorkPosition->id.c_str());
+        LOG_INFO("  Camera: %s (ID: %s, Index: %d)\n", foundCamera->cameraName.c_str(), foundCamera->id.c_str(), foundCamera->cameraIndex);
+        LOG_INFO("  Package: %s (ID: %s)\n", templateName.c_str(), foundPackage->id.c_str());
+
+        if (m_pStatus) {
+            m_pStatus->OnStatusUpdate(QString("切换到[工位:%1, 相机:%2, 包裹:%3]")
+            .arg(QString::fromStdString(foundWorkPosition->name))
+            .arg(QString::fromStdString(foundCamera->cameraName))
+            .arg(QString::fromStdString(foundPackage->name)).toStdString());
+        }
+
+        // 更新执行参数（使用新的模板配置）
+        _UpdateCurrentExecutionParams(foundWorkPosition, foundCamera, foundPackage, cameraIndex);
+    }
+
+    // 3. 显示状态信息
+    LOG_INFO("Starting detection with camera %d (template %d)\n", cameraIndex, templateIndex);
+
+    // 4. 启动指定相机的检测（非自动模式）
+    // 如果已经切换了模板（templateIndex > 0），则不需要再更新参数
+    // 如果没有切换模板，则需要在 StartDetection 中更新参数
+    bool needUpdateParams = (templateIndex <= 0);
+    int result = StartDetection(cameraIndex, false, needUpdateParams);
+
+    // 5. 发送响应给客户端
+    if (result != SUCCESS) {
+        QString response = QString("Error_%1").arg(result);
+        LOG_ERROR("Failed to start camera %d detection, error: %d\n", cameraIndex, result);
+        m_pTcpServer->SendData(pClient, response.toStdString().c_str(), response.toStdString().length());
+    }
+    return result == SUCCESS;
+}
+
 // TCP客户端连接状态回调处理方法
 void GrabBagPresenter::onTcpClientEventFromCallback(const TCPClient* pClient, TCPServerEventType eventType)
 {
@@ -812,11 +826,11 @@ void GrabBagPresenter::SetStatusCallback(IYGrabBagStatus* status)
 }
 
 // 模拟检测函数，用于演示
-int GrabBagPresenter::StartDetection(int cameraIdx, bool isAuto)
-{    
+int GrabBagPresenter::StartDetection(int cameraIdx, bool isAuto, bool updateParams)
+{
     LOG_INFO("--------------------------------\n");
-    LOG_INFO("Start detection with camera index: %d\n", cameraIdx);
-    
+    LOG_INFO("Start detection with camera index: %d, updateParams: %d\n", cameraIdx, updateParams);
+
     // 检查设备状态是否准备就绪
     if (isAuto && m_currentWorkStatus != WorkStatus::Ready) {
         LOG_INFO("Device not ready, cannot start detection\n");
@@ -826,19 +840,17 @@ int GrabBagPresenter::StartDetection(int cameraIdx, bool isAuto)
         return ERR_CODE(DEV_BUSY);
     }
 
-    // 保存当前使用的相机ID（从1开始编号）
-    if(-1 != cameraIdx){
-        m_currentCameraIndex = cameraIdx;
-    }
-    int cameraIndex = m_currentCameraIndex;
+    // 确定要使用的相机索引（不修改默认相机索引）
+    int cameraIndex = (cameraIdx != -1) ? cameraIdx : m_currentCameraIndex;
 
-    m_currentWorkStatus = WorkStatus::Working;
+    LOG_INFO("Using camera index: %d (default: %d)\n", cameraIndex, m_currentCameraIndex);
+
+    m_currentWorkStatus = WorkStatus::Detecting;
 
-    // 通知UI工作状态变更为"正在工作"
     if (m_pStatus) {
-        m_pStatus->OnWorkStatusChanged(WorkStatus::Working);
+        m_pStatus->OnWorkStatusChanged(m_currentWorkStatus);
     }
-    
+
     // 设置机械臂工作状态为忙碌
     if (m_pRobotProtocol) {
         m_pRobotProtocol->SetWorkStatus(RobotProtocol::WORK_STATUS_BUSY);
@@ -855,8 +867,14 @@ int GrabBagPresenter::StartDetection(int cameraIdx, bool isAuto)
     // 清空检测数据缓存（释放之前的内存）
     _ClearDetectionDataCache();
 
-    // 更新当前执行参数（包括相机参数、调平参数、手眼标定参数）
-    _UpdateCurrentExecutionParams();
+    // 更新当前执行参数（如果需要）
+    if (updateParams) {
+        // 临时保存默认相机索引
+        int savedDefaultCameraIndex = m_currentCameraIndex;
+        m_currentCameraIndex = cameraIndex;
+        _UpdateCurrentExecutionParams();
+        m_currentCameraIndex = savedDefaultCameraIndex;  // 恢复默认相机索引
+    }
 
     // 配置相机参数
     int nRet = _ApplyCameraParameters();
@@ -1033,7 +1051,10 @@ int GrabBagPresenter::_OpenDevice(int cameraIndex, const char* cameraName, const
     
     // 先设置状态回调
     nRet = pDevice->SetStatusCallback(&GrabBagPresenter::_StaticCameraNotify, this);
-    LOG_DEBUG("SetStatusCallback result: %d\n", nRet);
+    if(nRet != SUCCESS){
+        delete pDevice;
+        LOG_ERROR("SetStatusCallback failed, error code: %d\n", nRet);
+    }
     ERR_CODE_RETURN(nRet);
     
     // 尝试打开相机1
@@ -1261,13 +1282,25 @@ void GrabBagPresenter::CheckAndUpdateWorkStatus()
     }
 }
 
+void GrabBagPresenter::SetWorkStatus(WorkStatus status)
+{
+    m_currentWorkStatus = status;
+    if (m_pStatus) {
+        m_pStatus->OnWorkStatusChanged(m_currentWorkStatus);
+    }
+
+    if(WorkStatus::Error == status){
+        m_currentWorkStatus = WorkStatus::Ready;
+    }
+}
+
 void GrabBagPresenter::_AlgoDetectThread()
 {
     while(m_bAlgoDetectThreadRunning)
     {
         std::unique_lock<std::mutex> lock(m_algoDetectMutex);
         m_algoDetectCondition.wait(lock, [this]() {
-            return m_currentWorkStatus == WorkStatus::Working;
+            return m_currentWorkStatus == WorkStatus::Working || m_currentWorkStatus == WorkStatus::Detecting;
         });
 
         if(!m_bAlgoDetectThreadRunning){
@@ -1312,63 +1345,48 @@ int GrabBagPresenter::_DetectTask()
         return ERR_CODE(DEV_ARG_INVAILD);
     }
 
-    // 2. 准备算法参数 - 使用 ParameterManager 获取参数
+    // 2. 准备算法参数 - 直接从 m_currentExecutionParams 和全局配置获取
     SG_bagPositionParam detectionAlgoParam;
     SSG_planeCalibPara detectionCalibParam;
     CalibMatrix detectionHandEyeMatrix;
 
-    // 初始化调平参数为单位矩阵
-    double identityCalibMatrix[9] = {1.0, 0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, 1.0};
-    memcpy(detectionCalibParam.planeCalib, identityCalibMatrix, sizeof(identityCalibMatrix));
-    memcpy(detectionCalibParam.invRMatrix, identityCalibMatrix, sizeof(identityCalibMatrix));
-    detectionCalibParam.planeHeight = -1.0;
+    // 2.1 初始化算法参数结构
+    memset(&detectionAlgoParam, 0, sizeof(SG_bagPositionParam));
 
-    // 初始化手眼矩阵为单位矩阵
-    double identityHandEyeMatrix[16] = {
-        1.0, 0.0, 0.0, 0.0,
-        0.0, 1.0, 0.0, 0.0,
-        0.0, 0.0, 1.0, 0.0,
-        0.0, 0.0, 0.0, 1.0
-    };
-    memcpy(detectionHandEyeMatrix.clibMatrix, identityHandEyeMatrix, sizeof(identityHandEyeMatrix));
+    // 从全局配置中获取算法参数
+    const VrAlgorithmParams& xmlParams = m_configResult.algorithmParams;
 
-    LOG_INFO("[Algo Thread] work position index: %d, camera index: %d, package index: %d \n", m_currentWorkPositionIndex, m_currentCameraIndex, m_currentPackageTypeIndex);
-    // 2.1 获取包裹类型参数（优先级：指定索引 > 默认配置 > 全局默认）
-    bool packageParamsSuccess = false;
-    try {
-        packageParamsSuccess = m_pParameterManager->GetPackageTypeParams(m_currentPackageTypeIndex, detectionAlgoParam);
-    } catch (const std::exception& e) {
-        LOG_ERROR("[Algo Thread] Exception in GetPackageTypeParams: %s\n", e.what());
-        if (m_pStatus) {
-            m_pStatus->OnStatusUpdate("获取包裹参数异常");
-        }
-        return ERR_CODE(DEV_ARG_INVAILD);
-    } catch (...) {
-        LOG_ERROR("[Algo Thread] Unknown exception in GetPackageTypeParams\n");
-        if (m_pStatus) {
-            m_pStatus->OnStatusUpdate("获取包裹参数异常");
-        }
-        return ERR_CODE(DEV_ARG_INVAILD);
-    }
+    // 滤波参数
+    detectionAlgoParam.filterParam.continuityTh = xmlParams.filterParam.continuityTh;
+    detectionAlgoParam.filterParam.outlierTh = xmlParams.filterParam.outlierTh;
 
-    // 2.2 获取工作点参数（优先级：指定索引 > 默认配置 > 当前执行参数）
-    try {
-        LOG_INFO("[Algo Thread] Getting work position params...\n");
-        bool ret2 = m_pParameterManager->GetWorkPositionParams(m_currentWorkPositionIndex, m_currentCameraIndex, detectionCalibParam, detectionHandEyeMatrix);
-        LOG_INFO("[Algo Thread] GetWorkPositionParams returned: %d\n", ret2);
-    } catch (const std::exception& e) {
-        LOG_ERROR("[Algo Thread] Exception in GetWorkPositionParams: %s\n", e.what());
-        if (m_pStatus) {
-            m_pStatus->OnStatusUpdate("获取工作点参数异常");
-        }
-        return ERR_CODE(DEV_ARG_INVAILD);
-    } catch (...) {
-        LOG_ERROR("[Algo Thread] Unknown exception in GetWorkPositionParams\n");
-        if (m_pStatus) {
-            m_pStatus->OnStatusUpdate("获取工作点参数异常");
-        }
-        return ERR_CODE(DEV_ARG_INVAILD);
-    }
+    // 角点参数
+    detectionAlgoParam.cornerParam.cornerTh = xmlParams.cornerParam.cornerTh;
+    detectionAlgoParam.cornerParam.scale = xmlParams.cornerParam.scale;
+    detectionAlgoParam.cornerParam.minEndingGap = xmlParams.cornerParam.minEndingGap;
+    detectionAlgoParam.cornerParam.minEndingGap_z = xmlParams.cornerParam.minEndingGap_z;
+    detectionAlgoParam.cornerParam.jumpCornerTh_1 = xmlParams.cornerParam.jumpCornerTh_1;
+    detectionAlgoParam.cornerParam.jumpCornerTh_2 = xmlParams.cornerParam.jumpCornerTh_2;
+
+    // 生长参数
+    detectionAlgoParam.growParam.maxLineSkipNum = xmlParams.growParam.maxLineSkipNum;
+    detectionAlgoParam.growParam.yDeviation_max = xmlParams.growParam.yDeviation_max;
+    detectionAlgoParam.growParam.maxSkipDistance = xmlParams.growParam.maxSkipDistance;
+    detectionAlgoParam.growParam.zDeviation_max = xmlParams.growParam.zDeviation_max;
+    detectionAlgoParam.growParam.minLTypeTreeLen = xmlParams.growParam.minLTypeTreeLen;
+    detectionAlgoParam.growParam.minVTypeTreeLen = xmlParams.growParam.minVTypeTreeLen;
+
+    // 支持旋转
+    detectionAlgoParam.supportRotate = xmlParams.supportRotate;
+
+    // 使用 m_currentExecutionParams 中的包裹参数
+    detectionAlgoParam.bagParam.bagL = m_currentExecutionParams.bagParam.bagL;
+    detectionAlgoParam.bagParam.bagW = m_currentExecutionParams.bagParam.bagW;
+    detectionAlgoParam.bagParam.bagH = m_currentExecutionParams.bagParam.bagH;
+
+    // 2.2 直接使用 m_currentExecutionParams 中的调平参数和手眼标定参数
+    detectionCalibParam = m_currentExecutionParams.planeCalibParam;
+    detectionHandEyeMatrix = m_currentExecutionParams.handEyeCalibMatrix;
 
     // 3. 准备检测
     unsigned int lineNum = 0;
@@ -1903,9 +1921,7 @@ void GrabBagPresenter::_LoadCurrentWorkPositionAndPackageType()
     WorkPositionConfig* defaultWorkPosition = nullptr;
     if (!m_configResult.workPositions.empty()) {
         defaultWorkPosition = &m_configResult.workPositions[0];
-        m_currentWorkPositionId = defaultWorkPosition->id;
-        LOG_INFO("Using first work position: %s (name: %s)\n",
-                 m_currentWorkPositionId.c_str(), defaultWorkPosition->name.c_str());
+        LOG_INFO("Using first work position: %s\n", defaultWorkPosition->name.c_str());
     } else {
         LOG_ERROR("No work positions configured!\n");
         return;
@@ -1914,40 +1930,34 @@ void GrabBagPresenter::_LoadCurrentWorkPositionAndPackageType()
     // 2. 从工作点中获取默认相机
     CameraConfig* defaultCamera = defaultWorkPosition->GetDefaultCamera();
     if (defaultCamera) {
-        m_currentCameraId = defaultCamera->id;
-        LOG_INFO("Using default camera: %s (name: %s, index: %d)\n",
-                 m_currentCameraId.c_str(), defaultCamera->cameraName.c_str(),
-                 defaultCamera->cameraIndex);
+        LOG_INFO("Using default camera: %s (index: %d)\n",
+                 defaultCamera->cameraName.c_str(), defaultCamera->cameraIndex);
     } else if (!defaultWorkPosition->cameras.empty()) {
         // 如果没有默认配置，使用第一个相机
-        m_currentCameraId = defaultWorkPosition->cameras[0].id;
         defaultCamera = &defaultWorkPosition->cameras[0];
         LOG_WARNING("No default camera configured for work position %s, using first camera: %s\n",
-                   m_currentWorkPositionId.c_str(), m_currentCameraId.c_str());
+                   defaultWorkPosition->name.c_str(), defaultCamera->cameraName.c_str());
     } else {
-        LOG_ERROR("No cameras configured for work position %s!\n", m_currentWorkPositionId.c_str());
+        LOG_ERROR("No cameras configured for work position %s!\n", defaultWorkPosition->name.c_str());
         return;
     }
 
     // 3. 从相机中获取默认包裹
     PackageTypeConfig* defaultPackage = defaultCamera->GetDefaultPackage();
     if (defaultPackage) {
-        m_currentPackageTypeId = defaultPackage->id;
-        LOG_INFO("Using default package: %s (name: %s)\n",
-                 m_currentPackageTypeId.c_str(), defaultPackage->name.c_str());
+        LOG_INFO("Using default package: %s\n", defaultPackage->name.c_str());
     } else if (!defaultCamera->packages.empty()) {
         // 如果没有默认配置，使用第一个包裹
-        m_currentPackageTypeId = defaultCamera->packages[0].id;
         defaultPackage = &defaultCamera->packages[0];
         LOG_WARNING("No default package configured for camera %s, using first package: %s\n",
-                   m_currentCameraId.c_str(), m_currentPackageTypeId.c_str());
+                   defaultCamera->cameraName.c_str(), defaultPackage->name.c_str());
     } else {
-        LOG_ERROR("No packages configured for camera %s!\n", m_currentCameraId.c_str());
+        LOG_ERROR("No packages configured for camera %s!\n", defaultCamera->cameraName.c_str());
         return;
     }
 
-    // 4. 更新当前执行参数
-    _UpdateCurrentExecutionParams();
+    // 4. 更新当前执行参数（使用找到的默认配置）
+    _UpdateCurrentExecutionParams(defaultWorkPosition, defaultCamera, defaultPackage, defaultCamera->cameraIndex);
 }
 
 int GrabBagPresenter::_ApplyCameraParameters()
@@ -2033,7 +2043,7 @@ int GrabBagPresenter::_ApplyCameraParameters()
 
 void GrabBagPresenter::_UpdateCurrentExecutionParams()
 {
-    LOG_INFO("Updating current execution parameters\n");
+    LOG_INFO("Updating current execution parameters using m_currentCameraIndex: %d\n", m_currentCameraIndex);
 
     // 1. 设置相机序号（使用当前默认相机）
     m_currentExecutionParams.cameraIndex = m_currentCameraIndex;
@@ -2045,7 +2055,6 @@ void GrabBagPresenter::_UpdateCurrentExecutionParams()
         m_currentExecutionParams.planeCalibParam.invRMatrix[i] = identityMatrix9[i];
     }
     m_currentExecutionParams.planeCalibParam.planeHeight = -1.0;
-    LOG_INFO("Initialized plane calibration parameters to identity matrix\n");
 
     // 3. 初始化手眼标定矩阵为单位矩阵（默认值）
     double identityMatrix16[16] = {
@@ -2057,52 +2066,33 @@ void GrabBagPresenter::_UpdateCurrentExecutionParams()
     for (int i = 0; i < 16; i++) {
         m_currentExecutionParams.handEyeCalibMatrix.clibMatrix[i] = identityMatrix16[i];
     }
-    LOG_INFO("Initialized hand-eye calibration matrix to identity matrix\n");
 
-    // 4. 按照三级结构导航：工作点->相机->包裹
-
-    // 4.1 获取当前工作点配置
+    // 4. 通过 m_currentCameraIndex 查找配置
     const WorkPositionConfig* currentWorkPosition = nullptr;
-    for (const auto& wp : m_configResult.workPositions) {
-        if (wp.id == m_currentWorkPositionId) {
-            currentWorkPosition = &wp;
-            break;
-        }
-    }
-
-    if (!currentWorkPosition) {
-        LOG_WARNING("No current work position found (ID: %s), using default parameters\n",
-                   m_currentWorkPositionId.c_str());
-        return;
-    }
-
-    // 4.2 获取当前相机配置
     const CameraConfig* currentCamera = nullptr;
-    for (const auto& cam : currentWorkPosition->cameras) {
-        if (cam.id == m_currentCameraId) {
-            currentCamera = &cam;
-            break;
-        }
-    }
-
-    if (!currentCamera) {
-        LOG_WARNING("No current camera found (ID: %s) in work position %s, using default parameters\n",
-                   m_currentCameraId.c_str(), m_currentWorkPositionId.c_str());
-        return;
-    }
-
-    // 4.3 获取当前包裹配置
     const PackageTypeConfig* currentPackage = nullptr;
-    for (const auto& pkg : currentCamera->packages) {
-        if (pkg.id == m_currentPackageTypeId) {
-            currentPackage = &pkg;
-            break;
+
+    // 遍历所有工作点、相机，找到匹配 cameraIndex 的相机配置
+    for (const auto& wp : m_configResult.workPositions) {
+        for (const auto& cam : wp.cameras) {
+            if (cam.cameraIndex == m_currentCameraIndex) {
+                currentWorkPosition = &wp;
+                currentCamera = &cam;
+                // 获取该相机的默认包裹或第一个包裹
+                if (!cam.packages.empty()) {
+                    currentPackage = cam.GetDefaultPackage();
+                    if (!currentPackage) {
+                        currentPackage = &cam.packages[0];
+                    }
+                }
+                break;
+            }
         }
+        if (currentCamera) break;
     }
 
-    if (!currentPackage) {
-        LOG_WARNING("No current package found (ID: %s) in camera %s, using default parameters\n",
-                   m_currentPackageTypeId.c_str(), m_currentCameraId.c_str());
+    if (!currentWorkPosition || !currentCamera || !currentPackage) {
+        LOG_WARNING("Failed to find configuration for camera index %d, using default parameters\n", m_currentCameraIndex);
         return;
     }
 
@@ -2127,6 +2117,11 @@ void GrabBagPresenter::_UpdateCurrentExecutionParams()
         m_currentExecutionParams.cameraParam.swingStopAngle = 180.0;
     }
 
+    // 5.1 设置包裹参数（从包裹配置中获取）
+    m_currentExecutionParams.bagParam = currentPackage->bagParam;
+    LOG_INFO("Using bag parameters: L=%.1f, W=%.1f, H=%.1f\n",
+             currentPackage->bagParam.bagL, currentPackage->bagParam.bagW, currentPackage->bagParam.bagH);
+
     // 6. 设置调平参数（从相机配置中获取）
     if (currentCamera->planeCalibParam.isCalibrated &&
         currentCamera->planeCalibParam.cameraIndex == m_currentCameraIndex) {
@@ -2157,6 +2152,108 @@ void GrabBagPresenter::_UpdateCurrentExecutionParams()
     }
 
     LOG_INFO("Current execution parameters updated successfully\n");
+    LOG_INFO("  Work Position: %s\n", currentWorkPosition->name.c_str());
+    LOG_INFO("  Camera: %s (Index: %d)\n", currentCamera->cameraName.c_str(), m_currentCameraIndex);
+    LOG_INFO("  Package: %s\n", currentPackage->name.c_str());
+
+    // 更新 ParameterManager 的当前执行参数
+    m_pParameterManager->SetCurrentExecutionParams(
+        m_currentExecutionParams.planeCalibParam,
+        m_currentExecutionParams.handEyeCalibMatrix
+    );
+}
+
+// 重载版本：直接使用配置指针更新执行参数
+void GrabBagPresenter::_UpdateCurrentExecutionParams(const WorkPositionConfig* workPosition, const CameraConfig* camera, const PackageTypeConfig* package, int cameraIndex)
+{
+    LOG_INFO("Updating current execution parameters with provided configuration\n");
+
+    if (!workPosition || !camera || !package) {
+        LOG_ERROR("Invalid configuration pointers provided\n");
+        return;
+    }
+
+    // 1. 设置相机序号
+    m_currentExecutionParams.cameraIndex = cameraIndex;
+
+    // 2. 初始化调平参数为单位矩阵（默认值）
+    double identityMatrix9[9] = {1.0, 0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, 1.0};
+    for (int i = 0; i < 9; i++) {
+        m_currentExecutionParams.planeCalibParam.planeCalib[i] = identityMatrix9[i];
+        m_currentExecutionParams.planeCalibParam.invRMatrix[i] = identityMatrix9[i];
+    }
+    m_currentExecutionParams.planeCalibParam.planeHeight = -1.0;
+
+    // 3. 初始化手眼标定矩阵为单位矩阵（默认值）
+    double identityMatrix16[16] = {
+        1.0, 0.0, 0.0, 0.0,
+        0.0, 1.0, 0.0, 0.0,
+        0.0, 0.0, 1.0, 0.0,
+        0.0, 0.0, 0.0, 1.0
+    };
+    for (int i = 0; i < 16; i++) {
+        m_currentExecutionParams.handEyeCalibMatrix.clibMatrix[i] = identityMatrix16[i];
+    }
+
+    // 4. 设置相机参数（从包裹配置中获取）
+    const VrCameraParams* cameraParam = package->GetCameraParam(cameraIndex);
+
+    if (cameraParam) {
+        m_currentExecutionParams.cameraParam = *cameraParam;
+        LOG_INFO("Using camera parameters from package %s for camera %d: exposure=%.2f, gain=%.2f, frameRate=%.2f\n",
+                 package->name.c_str(), cameraIndex,
+                 cameraParam->exposure, cameraParam->gain, cameraParam->frameRate);
+    } else {
+        LOG_WARNING("No camera parameters found for camera %d in package %s, using defaults\n",
+                   cameraIndex, package->name.c_str());
+        // 使用默认参数
+        m_currentExecutionParams.cameraParam.cameraIndex = cameraIndex;
+        m_currentExecutionParams.cameraParam.exposure = 100.0;
+        m_currentExecutionParams.cameraParam.gain = 1.0;
+        m_currentExecutionParams.cameraParam.frameRate = 30.0;
+        m_currentExecutionParams.cameraParam.swingSpeed = 10.0;
+        m_currentExecutionParams.cameraParam.swingStartAngle = 0.0;
+        m_currentExecutionParams.cameraParam.swingStopAngle = 180.0;
+    }
+
+    // 4.1 设置包裹参数（从包裹配置中获取）
+    m_currentExecutionParams.bagParam = package->bagParam;
+    LOG_INFO("Using bag parameters: L=%.1f, W=%.1f, H=%.1f\n",
+             package->bagParam.bagL, package->bagParam.bagW, package->bagParam.bagH);
+
+    // 5. 设置调平参数（从相机配置中获取）
+    if (camera->planeCalibParam.isCalibrated &&
+        camera->planeCalibParam.cameraIndex == cameraIndex) {
+        // 使用实际标定矩阵
+        for (int i = 0; i < 9; i++) {
+            m_currentExecutionParams.planeCalibParam.planeCalib[i] = camera->planeCalibParam.planeCalib[i];
+            m_currentExecutionParams.planeCalibParam.invRMatrix[i] = camera->planeCalibParam.invRMatrix[i];
+        }
+        m_currentExecutionParams.planeCalibParam.planeHeight = camera->planeCalibParam.planeHeight;
+        LOG_INFO("Using calibrated plane parameters from camera %s (height=%.3f)\n",
+                 camera->cameraName.c_str(), camera->planeCalibParam.planeHeight);
+    } else {
+        LOG_INFO("Camera %s is not calibrated, using identity matrix for plane calibration\n",
+                camera->cameraName.c_str());
+    }
+
+    // 6. 设置手眼标定参数（从相机配置中获取）
+    if (camera->handEyeCalibParam.isCalibrated &&
+        camera->handEyeCalibParam.cameraIndex == cameraIndex) {
+        // 使用实际标定矩阵
+        for (int i = 0; i < 16; i++) {
+            m_currentExecutionParams.handEyeCalibMatrix.clibMatrix[i] = camera->handEyeCalibParam.transformMatrix[i];
+        }
+        LOG_INFO("Using calibrated hand-eye matrix from camera %s\n", camera->cameraName.c_str());
+    } else {
+        LOG_INFO("Camera %s hand-eye is not calibrated, using identity matrix\n",
+                camera->cameraName.c_str());
+    }
+
+    LOG_INFO("Current execution parameters updated successfully\n");
+    LOG_INFO("  Work Position: %s\n", workPosition->name.c_str());
+    LOG_INFO("  Camera: %s (Index: %d)\n", camera->cameraName.c_str(), cameraIndex);
+    LOG_INFO("  Package: %s\n", package->name.c_str());
 
     // 更新 ParameterManager 的当前执行参数
     m_pParameterManager->SetCurrentExecutionParams(
diff --git a/App/GrabBag/GrabBagApp/Presenter/Src/ParameterManager.cpp b/App/GrabBag/GrabBagApp/Presenter/Src/ParameterManager.cpp
index b0dafef..6ce21b1 100644
--- a/App/GrabBag/GrabBagApp/Presenter/Src/ParameterManager.cpp
+++ b/App/GrabBag/GrabBagApp/Presenter/Src/ParameterManager.cpp
@@ -524,8 +524,7 @@ bool ParameterManager::GetWorkPositionParams(int workPositionIndex, int cameraIn
         }
     }
 
-    LOG_INFO("[ParameterManager] Found work position: %s (ID: %s)\n",
-             workPosition->name.c_str(), workPosition->id.c_str());
+    LOG_INFO("[ParameterManager] Found work position: %s (ID: %s)\n", workPosition->name.c_str(), workPosition->id.c_str());
 
     // 第2步：从工作点找到相机配置
     if (cameraIndex >= 0) {
diff --git a/App/GrabBag/GrabBagApp/Version.h b/App/GrabBag/GrabBagApp/Version.h
index 9b7a438..338895f 100644
--- a/App/GrabBag/GrabBagApp/Version.h
+++ b/App/GrabBag/GrabBagApp/Version.h
@@ -3,8 +3,8 @@
 
 
 #define GRABBAG_VERSION_STRING "1.3.2"
-#define GRABBAG_BUILD_STRING "0"
-#define GRABBAG_FULL_VERSION_STRING "V1.3.2_0"
+#define GRABBAG_BUILD_STRING "2"
+#define GRABBAG_FULL_VERSION_STRING "V1.3.2_2"
 
 // 获取版本信息的便捷函数
 inline const char* GetGrabBagVersion() {
diff --git a/App/GrabBag/GrabBagApp/Version.md b/App/GrabBag/GrabBagApp/Version.md
index 807861d..93cd81d 100644
--- a/App/GrabBag/GrabBagApp/Version.md
+++ b/App/GrabBag/GrabBagApp/Version.md
@@ -1,5 +1,12 @@
-#1.3.2 2025-10-28
-## build_0
+#1.3.2 
+## build_2 2025-11-23
+1. config 修改默认数据
+
+## build_1 2025-11-23
+1. 修改协议触发错误
+2. 包裹ID修改为唯一标识
+
+## build_0 2025-10-28
 1. 摆动机构默认参数无效
 2. 修改帧率范围
 3. 相机IP配置：通过配置文件config.xml 配置相机IP，如果没有没有配置，搜索相机进行打开
diff --git a/App/GrabBag/GrabBagApp/devstatus.cpp b/App/GrabBag/GrabBagApp/devstatus.cpp
index 2893958..899ae4d 100644
--- a/App/GrabBag/GrabBagApp/devstatus.cpp
+++ b/App/GrabBag/GrabBagApp/devstatus.cpp
@@ -52,7 +52,8 @@ void devstatus::setCameraStatusImage(QWidget* widget, bool isOnline) {
 
     QString imagePath = isOnline ? ":/common/resource/camera_online.png" : ":/common/resource/camera_offline.png";
 
-    widget->setStyleSheet(QString("image: url(%1);").arg(imagePath));
+    // 使用 border-image 而不是 image，这是 QWidget 支持的正确属性
+    widget->setStyleSheet(QString("QWidget { border-image: url(%1); }").arg(imagePath));
     // widget->setFixedSize(32, 32); // 调整大小以适应图片
 }
 
@@ -62,7 +63,8 @@ void devstatus::setRobotStatusImage(QWidget* widget, bool isOnline) {
 
     QString imagePath = isOnline ? ":/common/resource/robot_online.png" : ":/common/resource/robot_offline.png";
 
-    widget->setStyleSheet(QString("image: url(%1); ").arg(imagePath));
+    // 使用 border-image 而不是 image，这是 QWidget 支持的正确属性
+    widget->setStyleSheet(QString("QWidget { border-image: url(%1); }").arg(imagePath));
     // widget->setFixedSize(32, 32); // 调整大小以适应图片
 }
 
diff --git a/App/GrabBag/GrabBagApp/devstatus.ui b/App/GrabBag/GrabBagApp/devstatus.ui
index 327457e..6145320 100644
--- a/App/GrabBag/GrabBagApp/devstatus.ui
+++ b/App/GrabBag/GrabBagApp/devstatus.ui
@@ -65,7 +65,7 @@
      </rect>
     </property>
     <property name="styleSheet">
-     <string notr="true">image: url(:/common/resource/robot_offline.png);</string>
+     <string notr="true">QWidget { border-image: url(:/common/resource/robot_offline.png); }</string>
     </property>
    </widget>
   </widget>
@@ -118,7 +118,7 @@
      </rect>
     </property>
     <property name="styleSheet">
-     <string notr="true">image: url(:/common/resource/camera_offline.png);</string>
+     <string notr="true">QWidget { border-image: url(:/common/resource/camera_offline.png); }</string>
     </property>
    </widget>
   </widget>
@@ -171,7 +171,7 @@
      </rect>
     </property>
     <property name="styleSheet">
-     <string notr="true">image: url(:/common/resource/camera_offline.png);</string>
+     <string notr="true">QWidget { border-image: url(:/common/resource/camera_offline.png); }</string>
     </property>
    </widget>
   </widget>
diff --git a/App/GrabBag/GrabBagApp/dialogcameralevel.cpp b/App/GrabBag/GrabBagApp/dialogcameralevel.cpp
index 0a931e7..1609770 100644
--- a/App/GrabBag/GrabBagApp/dialogcameralevel.cpp
+++ b/App/GrabBag/GrabBagApp/dialogcameralevel.cpp
@@ -194,8 +194,7 @@ void DialogCameraLevel::updateCameraList()
 void DialogCameraLevel::on_btn_apply_clicked()
 {
     ui->label_level_result->setAlignment(Qt::AlignLeft);
-    
-#ifndef LEVEL_DEBUG_MODE
+
     // 检查是否有可用的相机
     if (m_cameraList.empty()) {
         QMessageBox::warning(this, "错误", "无可用相机设备！");
@@ -208,7 +207,6 @@ void DialogCameraLevel::on_btn_apply_clicked()
         QMessageBox::warning(this, "错误", "请选择有效的相机！");
         return;
     }
-#endif
     
     // 清空之前的结果显示
     ui->label_level_result->setText("调平计算中，请稍候...");
@@ -221,7 +219,7 @@ void DialogCameraLevel::on_btn_apply_clicked()
         // 执行相机调平
         if (performCameraLeveling()) {
             // 调平成功，关闭对话框（这会触发析构函数中的回调恢复）
-            accept();
+            // accept();
         } else {
             // 显示失败信息到界面
             ui->label_level_result->setText("调平失败！\n\n请检查：\n1. 相机连接是否正常\n2. 地面扫描数据是否充足\n3. 扫描区域是否有足够的地面");
@@ -249,24 +247,7 @@ bool DialogCameraLevel::performCameraLeveling()
         
         // 1. 设置调平状态回调
         setLevelingStatusCallback();
-        
-#ifdef LEVEL_DEBUG_MODE
-        // Debug模式：使用文件对话框选择测试数据
-        LOG_INFO("=== DEBUG MODE ENABLED ===\n");
-        
-        // 选择debug数据文件
-        QString debugDataFile = selectDebugDataFile();
-        if (debugDataFile.isEmpty()) {
-            LOG_INFO("Debug data file selection cancelled\n");
-            return false;
-        }
-        
-        // 使用选择的debug数据进行模拟扫描
-        if (!loadDebugDataAndSimulateScan(debugDataFile)) {
-            LOG_ERROR("Failed to load debug data for camera leveling\n");
-            return false;
-        }
-#else
+
         // 正常模式：使用真实相机
         if (selectedIndex < 0 || selectedIndex >= m_cameraList.size()) {
             LOG_ERROR("Invalid camera index: %d\n", selectedIndex);
@@ -305,7 +286,6 @@ bool DialogCameraLevel::performCameraLeveling()
         } else if (waitTime >= maxWaitTime) {
             LOG_WARNING("Timeout waiting for camera swing finish signal\n");
         }
-#endif
         
         // 5. 检查是否收集到足够的数据
         // 6. 调用调平算法计算
@@ -329,12 +309,6 @@ bool DialogCameraLevel::performCameraLeveling()
         QString cameraName;
         QString workPosId;
 
-#ifdef LEVEL_DEBUG_MODE
-        // Debug模式下使用默认名称
-        cameraIndex = 1;
-        cameraName = QString("Camera_%1").arg(cameraIndex);
-        workPosId = "default_wp"; // Debug模式下的默认工位ID
-#else
         // 正常模式下从列表获取名称
         if (m_currentCameraIndex >= 0 && m_currentCameraIndex < static_cast<int>(m_cameraList.size())) {
             cameraName = QString::fromStdString(m_cameraList[m_currentCameraIndex].first);
@@ -350,7 +324,6 @@ bool DialogCameraLevel::performCameraLeveling()
             LOG_ERROR("Invalid work position index: %d\n", m_currentWorkPosIndex);
             return false;
         }
-#endif
 
         if (!saveLevelingResults(planeCalib, planeHeight, invRMatrix, cameraIndex, cameraName, workPosId)) {
             LOG_ERROR("Failed to save leveling results\n");
@@ -556,35 +529,7 @@ bool DialogCameraLevel::calculatePlaneCalibration(double planeCalib[9], double&
         
         LOG_INFO("Plane calibration calculated: height=%.3f, rotX=%.2f°, rotY=%.2f°\n", 
                  planeHeight, rotAngleX, rotAngleY);
-        
-#ifdef LEVEL_DEBUG_MODE
-        // 统计点云数据
-        int totalPoints = 0;
-        double avgHeight = 0.0;
-        for (const auto& scanLine : m_scanDataCache) {
-            for (int i = 0; i < scanLine.nPositionCnt; i++) {
-                if (scanLine.p3DPosition[i].pt3D.z > -1000 && scanLine.p3DPosition[i].pt3D.z < 1000) {
-                    avgHeight += scanLine.p3DPosition[i].pt3D.z;
-                    totalPoints++;
-                }
-            }
-        }
-        
-        LOG_INFO("=== DEBUG MODE CALIBRATION RESULTS ===\n");
 
-        LOG_INFO("Algorithm results:\n");
-        LOG_INFO("  Calculated plane height: %.3f mm\n", calibResult.planeHeight);
-        LOG_INFO("Calibration matrix:\n");
-        for (int i = 0; i < 3; i++) {
-            LOG_INFO("  [%.6f, %.6f, %.6f]\n", calibResult.planeCalib[i*3], calibResult.planeCalib[i*3+1], calibResult.planeCalib[i*3+2]);
-        }
-        LOG_INFO("Inverse rotation matrix:\n");
-        for (int i = 0; i < 3; i++) {
-            LOG_INFO("  [%.6f, %.6f, %.6f]\n", calibResult.invRMatrix[i*3], calibResult.invRMatrix[i*3+1], calibResult.invRMatrix[i*3+2]);
-        }
-        LOG_INFO("=======================================\n");
-#endif
-        
         return true;
         
     } catch (const std::exception& e) {
diff --git a/App/GrabBag/GrabBagApp/dialogconfigtree.cpp b/App/GrabBag/GrabBagApp/dialogconfigtree.cpp
index eff3571..67852ab 100644
--- a/App/GrabBag/GrabBagApp/dialogconfigtree.cpp
+++ b/App/GrabBag/GrabBagApp/dialogconfigtree.cpp
@@ -107,7 +107,19 @@ void DialogConfigTree::initTree()
             // 包裹节点
             for (auto& pkg : cam.packages) {
                 QTreeWidgetItem* pkgItem = new QTreeWidgetItem(camItem);
-                QString pkgName = QString::fromStdString(pkg.name);
+
+                // 从包裹ID中提取数字编号（格式：pkg_1 -> 1）
+                QString pkgIdStr = QString::fromStdString(pkg.id);
+                QString pkgNumber = pkgIdStr;
+                if (pkgIdStr.startsWith("pkg_")) {
+                    pkgNumber = pkgIdStr.mid(4);  // 提取 "pkg_" 后面的数字
+                }
+
+                // 显示格式：包裹名称 (ID编号)
+                QString pkgName = QString("%1 (%2)")
+                    .arg(QString::fromStdString(pkg.name))
+                    .arg(pkgNumber);
+
                 if (pkg.id == defaultPkgId && cam.id == defaultCamId && wp.id == defaultWpId) {
                     pkgName += " [默认]";
                 }
@@ -673,12 +685,30 @@ void DialogConfigTree::addCamera(const QString& wpId, const QString& name, int c
 
 void DialogConfigTree::addPackage(const QString& wpId, const QString& camId, const QString& name)
 {
+    // 计算全局包裹ID（遍历所有工位、所有相机下的所有包裹）
+    int maxPkgId = 0;
+    for (const auto& wp : m_configResult->workPositions) {
+        for (const auto& cam : wp.cameras) {
+            for (const auto& pkg : cam.packages) {
+                // 从包裹ID中提取数字部分（格式：pkg_1, pkg_2, ...）
+                std::string pkgIdStr = pkg.id;
+                if (pkgIdStr.find("pkg_") == 0) {
+                    int pkgNum = std::stoi(pkgIdStr.substr(4));
+                    if (pkgNum > maxPkgId) {
+                        maxPkgId = pkgNum;
+                    }
+                }
+            }
+        }
+    }
+
     for (auto& wp : m_configResult->workPositions) {
         if (wp.id == wpId.toStdString()) {
             CameraConfig* cam = wp.GetCamera(camId.toStdString());
             if (cam) {
                 PackageTypeConfig pkg;
-                pkg.id = "pkg_" + std::to_string(cam->packages.size() + 1);
+                // 使用全局唯一的包裹ID
+                pkg.id = "pkg_" + std::to_string(maxPkgId + 1);
                 pkg.name = name.toStdString();
 
                 // 使用ConfigResult中的默认值初始化包裹参数
@@ -928,11 +958,16 @@ void DialogConfigTree::onCameraLevelClicked()
     int x = parentGeometry.left() + (parentGeometry.width() - dlg.width()) / 2;
     int y = parentGeometry.top()  + (parentGeometry.height() - dlg.height()) / 2;
     dlg.move(x, y);
-
+#if 0
     if (dlg.exec() == QDialog::Accepted) {
         // 调平成功后，刷新相机配置显示
         showCameraConfig(m_currentWorkPos, m_currentCamera);
     }
+#else
+    dlg.exec();
+    showCameraConfig(m_currentWorkPos, m_currentCamera);
+#endif
+
 }
 
 void DialogConfigTree::displayHandEyeCalibInline()
diff --git a/App/GrabBag/GrabBagApp/dialogconfigtree.ui b/App/GrabBag/GrabBagApp/dialogconfigtree.ui
index 5c89e99..f8addfb 100644
--- a/App/GrabBag/GrabBagApp/dialogconfigtree.ui
+++ b/App/GrabBag/GrabBagApp/dialogconfigtree.ui
@@ -7,7 +7,7 @@
     <x>0</x>
     <y>0</y>
     <width>896</width>
-    <height>619</height>
+    <height>642</height>
    </rect>
   </property>
   <property name="font">
@@ -216,8 +216,8 @@ color: rgb(221, 225, 233);</string>
               <rect>
                <x>0</x>
                <y>0</y>
-               <width>243</width>
-               <height>436</height>
+               <width>536</width>
+               <height>569</height>
               </rect>
              </property>
              <layout class="QVBoxLayout" name="verticalLayout_cameraScroll">
@@ -251,12 +251,12 @@ color: rgb(221, 225, 233);</string>
                      <pointsize>16</pointsize>
                     </font>
                    </property>
-                   <property name="readOnly">
-                    <bool>true</bool>
-                   </property>
                    <property name="text">
                     <string/>
                    </property>
+                   <property name="readOnly">
+                    <bool>true</bool>
+                   </property>
                   </widget>
                  </item>
                  <item row="1" column="0">
@@ -278,12 +278,12 @@ color: rgb(221, 225, 233);</string>
                      <pointsize>16</pointsize>
                     </font>
                    </property>
-                   <property name="readOnly">
-                    <bool>true</bool>
-                   </property>
                    <property name="text">
                     <string/>
                    </property>
+                   <property name="readOnly">
+                    <bool>true</bool>
+                   </property>
                   </widget>
                  </item>
                 </layout>
@@ -619,7 +619,7 @@ color: rgb(221, 225, 233);</string>
                <x>0</x>
                <y>0</y>
                <width>550</width>
-               <height>520</height>
+               <height>543</height>
               </rect>
              </property>
              <layout class="QVBoxLayout" name="verticalLayout_6">
diff --git a/App/GrabBag/GrabBagApp/main.cpp b/App/GrabBag/GrabBagApp/main.cpp
index d4542f2..e1770f9 100644
--- a/App/GrabBag/GrabBagApp/main.cpp
+++ b/App/GrabBag/GrabBagApp/main.cpp
@@ -5,10 +5,35 @@
 #include <QIcon>
 #include <QMessageBox>
 #include <QObject>
+#include <QTextCodec>
+#ifdef _WIN32
+#include <windows.h>
+#include <cstdio>
+#endif
+
+#ifdef _WIN32
+// Windows平台特定设置，解决中文乱码问题
+void setupWindowsConsoleEncoding() {
+    // 设置控制台代码页为UTF-8
+    SetConsoleOutputCP(CP_UTF8);
+    SetConsoleCP(CP_UTF8);
+}
+#endif
 
 int main(int argc, char *argv[])
 {
     QApplication a(argc, argv);
+
+#ifdef _WIN32
+    // Windows平台特定设置，解决中文乱码问题
+    setupWindowsConsoleEncoding();
+#endif
+
+#if (QT_VERSION < QT_VERSION_CHECK(5, 0, 0))
+    // Qt4及更早版本需要显式设置编码
+    QTextCodec *codec = QTextCodec::codecForName("UTF-8");
+    QTextCodec::setCodecForLocale(codec);
+#endif
     
     // 设置应用程序图标
     a.setWindowIcon(QIcon(":/common/resource/logo.png"));
@@ -30,4 +55,4 @@ int main(int argc, char *argv[])
     w.show();
 
     return a.exec();
-}
\ No newline at end of file
+}
diff --git a/App/GrabBag/GrabBagApp/mainwindow.ui b/App/GrabBag/GrabBagApp/mainwindow.ui
index 491750c..a14ccd7 100644
--- a/App/GrabBag/GrabBagApp/mainwindow.ui
+++ b/App/GrabBag/GrabBagApp/mainwindow.ui
@@ -96,7 +96,7 @@ background-color: rgba(255, 255, 255, 0);</string>
    <widget class="QPushButton" name="btn_test">
     <property name="geometry">
      <rect>
-      <x>1175</x>
+      <x>1110</x>
       <y>21</y>
       <width>220</width>
       <height>80</height>
@@ -119,7 +119,7 @@ border: none;</string>
    <widget class="QPushButton" name="btn_algo_config">
     <property name="geometry">
      <rect>
-      <x>930</x>
+      <x>865</x>
       <y>21</y>
       <width>220</width>
       <height>80</height>
@@ -142,7 +142,7 @@ border: none;</string>
    <widget class="QPushButton" name="btn_camera_levelling">
     <property name="geometry">
      <rect>
-      <x>1175</x>
+      <x>1110</x>
       <y>21</y>
       <width>220</width>
       <height>80</height>
@@ -165,7 +165,7 @@ border: none;</string>
    <widget class="QPushButton" name="btn_camera">
     <property name="geometry">
      <rect>
-      <x>685</x>
+      <x>620</x>
       <y>21</y>
       <width>220</width>
       <height>80</height>
@@ -237,7 +237,7 @@ background-color: rgba(255, 255, 255, 0);</string>
     <widget class="QPushButton" name="btn_start">
      <property name="geometry">
       <rect>
-       <x>1525</x>
+       <x>1470</x>
        <y>21</y>
        <width>80</width>
        <height>80</height>
@@ -259,7 +259,7 @@ background-color: rgba(255, 255, 255, 0);</string>
     <widget class="QPushButton" name="btn_stop">
      <property name="geometry">
       <rect>
-       <x>1645</x>
+       <x>1590</x>
        <y>21</y>
        <width>80</width>
        <height>80</height>
@@ -353,7 +353,7 @@ background-color: rgba(255, 255, 255, 0);</string>
      <x>0</x>
      <y>0</y>
      <width>1920</width>
-     <height>19</height>
+     <height>21</height>
     </rect>
    </property>
    <property name="styleSheet">
diff --git a/App/GrabBag/GrabBagConfig/Inc/IVrConfig.h b/App/GrabBag/GrabBagConfig/Inc/IVrConfig.h
index 12b09ba..22948bb 100644
--- a/App/GrabBag/GrabBagConfig/Inc/IVrConfig.h
+++ b/App/GrabBag/GrabBagConfig/Inc/IVrConfig.h
@@ -91,9 +91,9 @@ struct VrOutlierFilterParam
 struct VrCornerParam
 {
     double minEndingGap = 20.0;
-    double minEndingGap_z = 20.0;
-    double scale = 15.0;
-    double cornerTh = 30.0;
+    double minEndingGap_z = 40.0;
+    double scale = 50.0;
+    double cornerTh = 45.0;
     double jumpCornerTh_1 = 60.0;
     double jumpCornerTh_2 = 15.0;
 };
@@ -283,7 +283,7 @@ struct VrAlgorithmParams
     VrHsvCmpParam           hsvCmpParam;
     VrRgbColorPattern       rgbColorPattern;
     VrColorTemplateParam    colorTemplateParam;
-    int                     supportRotate = 0;
+    int                     supportRotate = 1;
 };
 
 /**