Measure/C1入口参数配置/out/etc/velodyne_manager.prototxt

fence_data_path:"/home/zx/data/ground_detect/"
#fence_log_path:"/home/zx/yct/MainStructure/new_electronic_fence/log"
distribution_mode:false
#-----------------------------------lidars, id 0-6 from C1-1~
# C1-1 192.168.11.131
velodyne_lidars
{
    ip:""
    port:2367
    model:"RSHELIOS16"
    calibrationFile:"../setting/VLP16db.yaml"
    lidar_id:6311
}

# C1-2 192.168.11.132
velodyne_lidars
{
    ip:""
    port:2369
    model:"RSHELIOS16"
    calibrationFile:"../setting/VLP16db.yaml"
    lidar_id:6312
}

# C1-3 192.168.11.133
velodyne_lidars
{
    ip:""
    port:2370
    model:"RSHELIOS16"
    calibrationFile:"../setting/VLP16db.yaml"
    lidar_id:6313
}

# C1-4 192.168.11.134
velodyne_lidars
{
    ip:""
    port:2371
    model:"RSHELIOS16"
    calibrationFile:"../setting/VLP16db.yaml"
    lidar_id:6314
}

# C1-5 192.168.11.135
velodyne_lidars
{
    ip:""
    port:2371
    model:"RSHELIOS16"
    calibrationFile:"../setting/VLP16db.yaml"
    lidar_id:6315
}

# C1-6 192.168.11.136
velodyne_lidars
{
    ip:""
    port:2371
    model:"RSHELIOS16"
    calibrationFile:"../setting/VLP16db.yaml"
    lidar_id:6316
}
#------> C1-1
region
{
    minx:-3.2
	maxx:-0.18
	miny:-2.73
	maxy:2.73
	minz:0.03
	maxz:0.5
    region_id:3117
    turnplate_cx:-1.602
    turnplate_cy:0.123
    border_minx:-1.720
    border_maxx:-1.440
    # (-1.41 + 0.67) / 2  ----------> -350
    plc_offsetx: 0.020
    # (2.55564 + 1.35) ---------> -2423
    plc_offsety: -6.32764
    plc_offset_degree: -90.17
    # plc设备x轴限位 TODO 待设置
    plc_border_miny:1.40
    plc_border_maxy:1.50
    car_min_width:1.55
    car_max_width:1.950
    car_min_wheelbase:2.0
    car_max_wheelbase:3.20
    turnplate_angle_limit_anti_clockwise:5.3
    turnplate_angle_limit_clockwise:5.3

    lidar_exts
    {
        lidar_id:6311
        calib
        {
            r:0
            p:0
            cx:0
            cy:0.0
        }
    }
    lidar_exts
    {
        lidar_id:6312
        calib
        {
            r:0
            p:0
            cx:0
            cy:0.0
        }
    }
    lidar_exts
    {
        lidar_id:6313
        calib
        {
            r:0
            p:0
            cx:0
            cy:0.0
        }
    }
    lidar_exts
    {
        lidar_id:6314
        calib
        {
            r:0
            p:0
            cx:0
            cy:0.0
        }
    }
}

#------> C1-2
region
{
    minx:0.1
	maxx:3.1
	miny:-2.6
	maxy:2.70
	minz:0.03
	maxz:0.5
    region_id:3118
    turnplate_cx:1.592
    turnplate_cy:0.123
    border_minx:0.4
    border_maxx:3.25
    # (-1.41 + 0.67) / 2  ----------> -350
    plc_offsetx: -0.005
    # (2.55564 + 1.35) ---------> -2423
    plc_offsety: -6.32764
    plc_offset_degree: -90.57
    # plc设备x轴限位 TODO 待设置
    plc_border_miny:1.40
    plc_border_maxy:1.50
    car_min_width:1.55
    car_max_width:1.920
    car_min_wheelbase:2.3
    car_max_wheelbase:3.15
    turnplate_angle_limit_anti_clockwise:5.3
    turnplate_angle_limit_clockwise:5.3

    lidar_exts
    {
        lidar_id:6313
        calib
        {
            r:0
            p:0
            cx:0
            cy:0.0
        }
    }
    lidar_exts
    {
        lidar_id:6314
        calib
        {
            r:0
            p:0
            cx:0
            cy:0.0
        }
    }
    lidar_exts
    {
        lidar_id:6315
        calib
        {
            r:0
            p:0
            cx:0
            cy:0.0
        }
    }
    lidar_exts
    {
        lidar_id:6316
        calib
        {
            r:0
            p:0
            cx:0
            cy:0.0
        }
    }
}