PLCRegistrationTool/velodyne_manager.prototxt

velodyne_lidars {
  ip: ""
  port: 2367
  model: "RSHELIOS16"
  calibrationFile: "../setting/VLP16db.yaml"
  lidar_id: 6311
}
velodyne_lidars {
  ip: ""
  port: 2369
  model: "RSHELIOS16"
  calibrationFile: "../setting/VLP16db.yaml"
  lidar_id: 6312
}
velodyne_lidars {
  ip: ""
  port: 2370
  model: "RSHELIOS16"
  calibrationFile: "../setting/VLP16db.yaml"
  lidar_id: 6313
}
velodyne_lidars {
  ip: ""
  port: 2371
  model: "RSHELIOS16"
  calibrationFile: "../setting/VLP16db.yaml"
  lidar_id: 6314
}
velodyne_lidars {
  ip: ""
  port: 2371
  model: "RSHELIOS16"
  calibrationFile: "../setting/VLP16db.yaml"
  lidar_id: 6315
}
velodyne_lidars {
  ip: ""
  port: 2371
  model: "RSHELIOS16"
  calibrationFile: "../setting/VLP16db.yaml"
  lidar_id: 6316
}
velodyne_lidars {
  ip: ""
  port: 2367
  model: "RSHELIOS16"
  calibrationFile: "../setting/VLP16db.yaml"
  lidar_id: 6321
}
velodyne_lidars {
  ip: ""
  port: 2369
  model: "RSHELIOS16"
  calibrationFile: "../setting/VLP16db.yaml"
  lidar_id: 6322
}
velodyne_lidars {
  ip: ""
  port: 2370
  model: "RSHELIOS16"
  calibrationFile: "../setting/VLP16db.yaml"
  lidar_id: 6323
}
velodyne_lidars {
  ip: ""
  port: 2371
  model: "RSHELIOS16"
  calibrationFile: "../setting/VLP16db.yaml"
  lidar_id: 6324
}
region {
  region_id: 3117
  minx: -3.2
  maxx: -0.42
  miny: -2.73
  maxy: 2.73
  minz: 0.04
  maxz: 0.5
  cut_box {
    cut_points {
      x: -3.248
      y: 1.6974
    }
    cut_points {
      x: -2.876
      y: 2.974
    }
    cut_points {
      x: -0.381
      y: 2.9024
    }
    cut_points {
      x: -0.149
      y: 1.934
    }
    cut_points {
      x: -0.195
      y: -2.785
    }
    cut_points {
      x: -3.076
      y: -2.785
    }
    cut_points {
      x: -3.576
      y: -2.2345
    }
  }
  turnplate_cx: -1.602
  turnplate_cy: 0.123
  lidar_exts {
    lidar_id: 6311
  }
  lidar_exts {
    lidar_id: 6312
  }
  lidar_exts {
    lidar_id: 6313
  }
  lidar_exts {
    lidar_id: 6314
  }
  plc_forward_offset {
    plc_offsetx: 0.0196140017
    plc_offsety: -6.35546398
    plc_offset_degree: -91.6478882
    plc_offset_wheel_base: -0.01
  }
  plc_reverse_offset {
    plc_offsetx: 0.008081
    plc_offsety: -6.35911417
    plc_offset_degree: -90.0176544
    plc_offset_wheel_base: -0.01
  }
  car_range_info {
    border_minx: -1.79
    border_maxx: -1.41
    plc_border_miny: 1.49
    plc_border_maxy: 1.55
    car_min_width: 1.55
    car_max_width: 1.95
    car_min_wheelbase: 2
    car_max_wheelbase: 3.2
    turnplate_angle_limit_min_clockwise: -5.3
    turnplate_angle_limit_max_clockwise: 5.3
  }
  terminal_range_info {
    border_minx: -1.79
    border_maxx: -1.41
    plc_border_miny: 1.49
    plc_border_maxy: 1.55
    car_min_width: 1.55
    car_max_width: 1.95
    car_min_wheelbase: 2
    car_max_wheelbase: 3.2
    turnplate_angle_limit_min_clockwise: -5.3
    turnplate_angle_limit_max_clockwise: 5.3
  }
}
region {
  region_id: 3118
  minx: 0.4
  maxx: 2.8
  miny: -2.6
  maxy: 2.7
  minz: 0.04
  maxz: 0.5
  cut_box {
    cut_points {
      x: 0.202236
      y: 1.94702
    }
    cut_points {
      x: 0.611436
      y: 2.91914
    }
    cut_points {
      x: 2.7929
      y: 2.853
    }
    cut_points {
      x: 3.4343
      y: 1.9964
    }
    cut_points {
      x: 3.567
      y: -1.474
    }
    cut_points {
      x: 3.136
      y: -2.66
    }
    cut_points {
      x: 0.4147
      y: -2.7
    }
    cut_points {
      x: 0.455
      y: -1.46
    }
  }
  turnplate_cx: 1.63245
  turnplate_cy: 0.065
  lidar_exts {
    lidar_id: 6313
  }
  lidar_exts {
    lidar_id: 6314
  }
  lidar_exts {
    lidar_id: 6315
  }
  lidar_exts {
    lidar_id: 6316
  }
  plc_forward_offset {
    plc_offsetx: -0.00869498868
    plc_offsety: -6.31662941
    plc_offset_degree: -90.4027481
    plc_offset_wheel_base: -0
  }
  plc_reverse_offset {
    plc_offsetx: -0.00325696
    plc_offsety: -6.31662941
    plc_offset_degree: -90.8564377
    plc_offset_wheel_base: -0
  }
  car_range_info {
    border_minx: 1.41
    border_maxx: 1.79
    plc_border_miny: 1.49
    plc_border_maxy: 1.55
    car_min_width: 1.55
    car_max_width: 1.95
    car_min_wheelbase: 2.3
    car_max_wheelbase: 3.15
    turnplate_angle_limit_min_clockwise: -5.3
    turnplate_angle_limit_max_clockwise: 5.3
  }
  terminal_range_info {
    border_minx: 1.41
    border_maxx: 1.79
    plc_border_miny: 1.49
    plc_border_maxy: 1.55
    car_min_width: 1.55
    car_max_width: 1.95
    car_min_wheelbase: 2.3
    car_max_wheelbase: 3.15
    turnplate_angle_limit_min_clockwise: -5.3
    turnplate_angle_limit_max_clockwise: 5.3
  }
}
region {
  region_id: 3219
  minx: -1.2
  maxx: 1.12
  miny: -2.6
  maxy: 2.9
  minz: 0.03
  maxz: 0.5
  cut_box {
    cut_points {
      x: -1.764
      y: 1.537
    }
    cut_points {
      x: -1.8198
      y: 1.99788
    }
    cut_points {
      x: -1.31579
      y: 2.95532
    }
    cut_points {
      x: 1.2329
      y: 2.89
    }
    cut_points {
      x: 2.01
      y: 1.959
    }
    cut_points {
      x: 2.01
      y: -2.629
    }
    cut_points {
      x: -1.269
      y: -2.726
    }
    cut_points {
      x: -1.96
      y: -1.3466
    }
    cut_points {
      x: -1.764
      y: 1.137
    }
  }
  turnplate_cx: -0.09
  turnplate_cy: 0.18
  lidar_exts {
    lidar_id: 6321
  }
  lidar_exts {
    lidar_id: 6322
  }
  lidar_exts {
    lidar_id: 6323
  }
  lidar_exts {
    lidar_id: 6324
  }
  plc_forward_offset {
    plc_offsetx: -1.4842
    plc_offsety: -6.43046665
    plc_offset_degree: -89.3703
    plc_offset_wheel_base: -0.01
  }
  plc_reverse_offset {
    plc_offsetx: -1.4962
    plc_offsety: -6.43046665
    plc_offset_degree: -89.6403
    plc_offset_wheel_base: -0.01
  }
  car_range_info {
    border_minx: -1.79
    border_maxx: -1.41
    plc_border_miny: 1.49
    plc_border_maxy: 1.55
    car_min_width: 1.55
    car_max_width: 1.95
    car_min_wheelbase: 2.3
    car_max_wheelbase: 3.15
    turnplate_angle_limit_min_clockwise: -5.3
    turnplate_angle_limit_max_clockwise: 5.3
  }
  terminal_range_info {
    border_minx: -1.79
    border_maxx: -1.41
    plc_border_miny: 1.49
    plc_border_maxy: 1.55
    car_min_width: 1.55
    car_max_width: 1.95
    car_min_wheelbase: 2.3
    car_max_wheelbase: 3.15
    turnplate_angle_limit_min_clockwise: -5.3
    turnplate_angle_limit_max_clockwise: 5.3
  }
}
fence_data_path: "/home/zx/data/ground_detect/"
distribution_mode: false