fence_data_path:"/home/youchen/extra_space/chutian/fence_wj"
#fence_log_path:"/home/zx/yct/MainStructure/new_electronic_fence/log"
left_model_path:"/home/youchen/extra_space/chutian/measure/puai_wj_2021/setting/left_model.txt"
right_model_path:"/home/youchen/extra_space/chutian/measure/puai_wj_2021/setting/right_model.txt"
distribution_mode:false

# 1 lidar
velodyne_lidars
{
    ip:""
    port:2368
    model:"VLP16"
    calibrationFile:"../setting/VLP16db.yaml"
    lidar_id:0
    max_range:8.0
    min_range:0.1
    min_angle:0
    max_angle:360
    rpm:600
    calib
    {
         r:-0.276397
         p:-0.11717
         y:89.6003
         cz:0.05467
        #r:-0.623165
        #p:0.601821
        #y:87.0198
        #cz:0.101527
    }
}

# 2 lidar
velodyne_lidars
{
    ip:""
    port:2369
    model:"VLP16"
    calibrationFile:"../setting/VLP16db.yaml"
    lidar_id:1
    max_range:8.0
    min_range:0.1
    min_angle:0
    max_angle:360
    rpm:600
    calib
    {
        r:-0.202484
        p:-0.106456
        y:88.58717
        cz:0.071634
        #r:0.462994
        #p:1.29624
        #y:96.0048
        #cz:0.09496
    }
}

# # 3 lidar
# velodyne_lidars
# {
#     ip:""
#     port:2370
#     model:"VLP16"
#     calibrationFile:"../setting/VLP16db.yaml"
#     lidar_id:2
#     max_range:5.0
#     min_range:0.1
#     min_angle:0
#     max_angle:360
#     rpm:600
#     calib
#     {
#         y:1.57
#     }
# }

# 1 region
region
{
    minx:-1.6
	maxx:1.6
	miny:-2.6
	maxy:2.6
	minz:0.02
	maxz:0.2
    region_id:0
    lidar_exts
    {
        lidar_id:0
        calib
        {
            cx:1.9018
            cy:-0.0175
        }
    }
    lidar_exts
    {
        lidar_id:1
        calib
        {
            #cx:-4.021775
            #cy:-0.039429
            cx:-1.9018
            cy:0.0175
        }
    }
}

# # 2 region
# region
# {
#     minx:-3.1
# 	maxx:0
# 	miny:-2.75
# 	maxy:3.08
# 	minz:0.01
# 	maxz:0.2
#     region_id:1
#     lidar_exts
#     {
#         lidar_id:1
#         calib
#         {
#             cx:0.1
#             cy:0.3
#         }
#     }
#     lidar_exts
#     {
#         lidar_id:2
#         calib
#         {
#             cx:0.1
#             cy:0.3
#         }
#     }
# }