B unit lidar calib

setting/velodyne_manager.prototxt

@@ -273,20 +273,20 @@ region
 # 3 region
 region
 {
-    minx:-1.5
-	maxx:1.5
+    minx:-1.3
+	maxx:1.37
 	miny:-2.6
-	maxy:2.3
-	minz:0.0
+	maxy:2.35
+	minz:0.02
 	maxz:0.5
     region_id:3
     turnplate_cx:0.0
     turnplate_cy:0.0
     border_minx:-1.3
     border_maxx:1.3
-    plc_offsetx:0.0
-    plc_offsety:0.0
-    plc_offset_degree:0.0
+    plc_offsetx:1.926
+    plc_offsety:-6.135
+    plc_offset_degree:-89.5
     plc_border_miny:-7.51
     car_min_width:1.55
     car_max_width:1.92
@@ -319,20 +319,22 @@ region
 # 2 region
 region
 {
-    minx:-1.5
-	maxx:1.5
+    minx:-1.4
+	maxx:1.4
 	miny:-2.6
-	maxy:2.3
-	minz:0.0
+	maxy:2.35
+	minz:0.02
 	maxz:0.5
     region_id:2
     turnplate_cx:0.0
     turnplate_cy:0.0
     border_minx:-1.3
     border_maxx:1.3
-    plc_offsetx:0.0
-    plc_offsety:0.0
-    plc_offset_degree:-90
+    # -0.04
+    plc_offsetx:-1.891
+    # -0.34
+    plc_offsety:-6.135
+    plc_offset_degree:-89.1
     plc_border_miny:-7.51
     car_min_width:1.55
     car_max_width:1.92
@@ -358,6 +360,8 @@ region
         {
             cx:-1.9389
             cy:-0.01395
+            cz:0.05
+            # p:-1.0
         }
     }
 }

velodyne_lidar/ground_region.cpp

@@ -819,7 +819,7 @@ void Ground_region::thread_measure_func()
             else
             {
                 m_car_wheel_information.correctness = false;
-                // LOG_IF(ERROR, m_region.region_id() == 0) << ec.to_string();
+                // LOG_IF(ERROR, m_region.region_id() == 3) << ec.to_string();
 
                 // 20211228 added by yct, car movement checking, human and door detection
                 Error_manager car_status_res = Region_status_checker::get_instance_references().get_region_parking_status(m_region.region_id(), t_wheel_info_stamped_for_car_move, *mp_cloud_filtered);