fence_data_path:"/home/zx/data/fence_wj"
#fence_log_path:"/home/zx/yct/MainStructure/new_electronic_fence/log"
distribution_mode:false

# #1
# wj_lidar
# {
#     angle_min:-2.35619449
#     angle_max:2.35619449
#     angle_increment:0.00582
#     time_increment:0.000062
#     range_min:0
#     range_max:30
#     net_config
#     {
#         ip_address:"192.168.2.201"
#         port:2112
#     }
#     transform
#     {
#         m00:-0.100059
# 		m01:0.9949814
# 		m02:-1.470
# 		m10:0.9949814
# 		m11:0.1000593
# 		m12:-2.285
#     }
#     scan_limit
#     {
#         dist_limit:8
#         minx:0.1
#         maxx:5.5
#         miny:-4
#         maxy:4
#     }
#     lidar_id:0
# }

#2
wj_lidar
{
    angle_min:-2.35619449
    angle_max:2.35619449
    angle_increment:0.00582
    time_increment:0.000062
    range_min:0
    range_max:30
    net_config
    {
        ip_address:"192.168.2.202"
        port:2112
    }
    transform
    {
        m00:-0.0123952
		m01:-0.9999232
		m02:1.851
		m10:-0.9999232
		m11:0.0123952
		m12:3.48100000
    }
    scan_limit
    {
        dist_limit:8
        minx:0.1
        maxx:5.5
        miny:-4
        maxy:4
    }
    lidar_id:1
}

#3
wj_lidar
{
    angle_min:-2.35619449
    angle_max:2.35619449
    angle_increment:0.00582
    time_increment:0.000062
    range_min:0
    range_max:30
    net_config
    {
        ip_address:"192.168.2.203"
        port:2112
    }
    transform
    {
        m00:0.0108588
		m01:0.9999409
		m02:5.229
		m10:0.9999409
		m11:-0.0108588
		m12:-2.3500000
    }
    scan_limit
    {
        dist_limit:8
        minx:0.1
        maxx:5.5
        miny:-4
        maxy:4
    }
    lidar_id:2
}

#4
wj_lidar
{
    angle_min:-2.35619449
    angle_max:2.35619449
    angle_increment:0.00582
    time_increment:0.000062
    range_min:0
    range_max:30
    net_config
    {
        ip_address:"192.168.2.204"
        port:2112
    }
    transform
    {
        m00:0.0549574
		m01:-0.9984888
		m02:8.717
		m10:-0.9984888
		m11:-0.0549574
		m12:3.54400000
    }
    scan_limit
    {
        dist_limit:8
        minx:0.1
        maxx:5.5
        miny:-4
        maxy:4
    }
    lidar_id:3
}

#5
wj_lidar
{
    angle_min:-2.35619449
    angle_max:2.35619449
    angle_increment:0.00582
    time_increment:0.000062
    range_min:0
    range_max:30
    net_config
    {
        ip_address:"192.168.2.205"
        port:2112
    }
    transform
    {
    	m00:-0.0196446
		m01:0.9998069
		m02:12.136
		m10:0.9998069
		m11:0.0196446
		m12:-2.3190000
    }
    scan_limit
    {
        dist_limit:8
        minx:0.1
        maxx:5.5
        miny:-4
        maxy:4
    }
    lidar_id:4
}

#6
wj_lidar
{
    angle_min:-2.35619449
    angle_max:2.35619449
    angle_increment:0.00582
    time_increment:0.000062
    range_min:0
    range_max:30
    net_config
    {
        ip_address:"192.168.2.206"
        port:2112
    }
    transform
    {
        m00:0.085926
		m01:-0.9963016
		m02:15.675
		m10:-0.9963016
		m11:-0.0859263
		m12:3.48400000
    }
    scan_limit
    {
        dist_limit:8
        minx:0.1
        maxx:5.5
        miny:-4
        maxy:4
    }
    lidar_id:5
}

#7
wj_lidar
{
    angle_min:-2.35619449
    angle_max:2.35619449
    angle_increment:0.00582
    time_increment:0.000062
    range_min:0
    range_max:30
    net_config
    {
        ip_address:"192.168.2.207"
        port:2112
    }
    transform
    {
        m00:-0.0609897
		m01:0.9981384
		m02:19.069
		m10:0.9981384
		m11:0.0609897
		m12:-2.3750000
    }
    scan_limit
    {
        dist_limit:8
        minx:0.1
        maxx:5.5
        miny:-4
        maxy:4
    }
    lidar_id:6
}

# #8
# wj_lidar
# {
#     angle_min:-2.35619449
#     angle_max:2.35619449
#     angle_increment:0.00582
#     time_increment:0.000062
#     range_min:0
#     range_max:30
#     net_config
#     {
#         ip_address:"192.168.2.208"
#         port:2112
#     }
#     transform
#     {
#         m00:0.0473273
# 		m01:-0.9988794
# 		m02:-1.398
# 		m10:-0.9988794
# 		m11:-0.0473273
# 		m12:3.35600000
#     }
#     scan_limit
#     {
#         dist_limit:8
#         minx:0.1
#         maxx:5.5
#         miny:-4
#         maxy:4
#     }
#     lidar_id:7
# }

#9
wj_lidar
{
    angle_min:-2.35619449
    angle_max:2.35619449
    angle_increment:0.00582
    time_increment:0.000062
    range_min:0
    range_max:30
    net_config
    {
        ip_address:"192.168.2.209"
        port:2112
    }
    transform
    {
        m00:-0.0773542
		m01:0.9970038
		m02:1.742
		m10:0.9970038
		m11:0.0773542
		m12:-2.5350000
    }
    scan_limit
    {
        dist_limit:8
        minx:0.1
        maxx:5.5
        miny:-4
        maxy:4
    }
    lidar_id:8
}

#10
wj_lidar
{
    angle_min:-2.35619449
    angle_max:2.35619449
    angle_increment:0.00582
    time_increment:0.000062
    range_min:0
    range_max:30
    net_config
    {
        ip_address:"192.168.2.210"
        port:2112
    }
    transform
    {
        m00:0.0255674
		m01:-0.9996730
		m02:5.233
		m10:-0.9996730
		m11:-0.0255674
		m12:3.44200000
    }
    scan_limit
    {
        dist_limit:8
        minx:0.1
        maxx:5.5
        miny:-4
        maxy:4
    }
    lidar_id:9
}

#11
wj_lidar
{
    angle_min:-2.35619449
    angle_max:2.35619449
    angle_increment:0.00582
    time_increment:0.000062
    range_min:0
    range_max:30
    net_config
    {
        ip_address:"192.168.2.211"
        port:2112
    }
    transform
    {
        m00:0.1196470
		m01:0.9928164
		m02:8.617
		m10:0.9928164
		m11:-0.1196470
		m12:-2.5510000
    }
    scan_limit
    {
        dist_limit:8
        minx:0.1
        maxx:5.5
        miny:-4
        maxy:3.2
    }
    lidar_id:10
}

#12
wj_lidar
{
    angle_min:-2.35619449
    angle_max:2.35619449
    angle_increment:0.00582
    time_increment:0.000062
    range_min:0
    range_max:30
    net_config
    {
        ip_address:"192.168.2.212"
        port:2112
    }
    transform
    {
        m00:0.0158848
		m01:-0.9998739
		m02:12.162
		m10:-0.9998739
		m11:-0.0158848
		m12:3.43600000
    }
    scan_limit
    {
        dist_limit:8
        minx:0.1
        maxx:5.5
        miny:-4
        maxy:4
    }
    lidar_id:11
}

#13
wj_lidar
{
    angle_min:-2.35619449
    angle_max:2.35619449
    angle_increment:0.00582
    time_increment:0.000062
    range_min:0
    range_max:30
    net_config
    {
        ip_address:"192.168.2.213"
        port:2112
    }
    transform
    {
        m00:-0.0459619
		m01:0.9989432
		m02:15.555
		m10:0.9989432
		m11:0.0459619
		m12:-2.5410000
    }
    scan_limit
    {
        dist_limit:8
        minx:0.1
        maxx:5.5
        miny:-4
        maxy:3.25
    }
    lidar_id:12
}

#14
wj_lidar
{
    angle_min:-2.35619449
    angle_max:2.35619449
    angle_increment:0.00582
    time_increment:0.000062
    range_min:0
    range_max:30
    net_config
    {
        ip_address:"192.168.2.214"
        port:2112
    }
    transform
    {
        m00:-0.1357627
		m01:-0.9907414
		m02:18.616
		m10:-0.9907414
		m11:0.1357627
		m12:3.48700000
    }
    scan_limit
    {
        dist_limit:8
        minx:0.1
        maxx:5
        miny:-4
        maxy:4
    }
    lidar_id:13
}


# #1
# regions
# {
# 	minx:-0.7
# 	maxx:1.8
# 	miny:-2.43
# 	maxy:3.3
# }
# #2
# regions
# {
# 	minx:2.5
# 	maxx:5.2
# 	miny:-2.4
# 	maxy:3.43
# }
# #3
# regions
# {
# 	minx:5.4
# 	maxx:8.7
# 	miny:-2.40
# 	maxy:3.43
# }

#4
regions
{
    # minx:8.7
    # maxx:12
    minx:-1.5
    maxx:1.5
    miny:-2.40
    maxy:3.45

    minz:0.025
	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_border_miny:-7.51
    car_min_width:1.55
    car_max_width:1.95
    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:3
        calib
        {
            cx:-14.3
            cy:0.0
        }
    }
    lidar_exts
    {
        lidar_id:4
        calib
        {
            cx:-14.3
            cy:0.0
        }
    }
    lidar_exts
    {
        lidar_id:10
        calib
        {
            cx:-14.3
            cy:0.0
        }
    }
    lidar_exts
    {
        lidar_id:11
        calib
        {
            cx:-14.3
            cy:0.0
        }
    }
}

# #5
# regions
# {
#     minx:12.1
#     maxx:15.4
#     miny:-2.40
#     maxy:3.45
# }

#6
regions
{
    # minx:15.8
    # maxx:18.8
    minx:-1.5
    maxx:1.5
    miny:-2.40
    maxy:3.45

    minz:0.025
	maxz:0.5
    region_id:5
    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_border_miny:-7.51
    car_min_width:1.55
    car_max_width:1.95
    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:5
        calib
        {
            cx:-17.3
            cy:0.0
        }
    }
    lidar_exts
    {
        lidar_id:6
        calib
        {
            cx:-17.3
            cy:0.0
        }
    }
    lidar_exts
    {
        lidar_id:12
        calib
        {
            cx:-17.3
            cy:0.0
        }
    }
    lidar_exts
    {
        lidar_id:13
        calib
        {
            cx:-17.3
            cy:0.0
        }
    }
}