puai_wj_2021/setting/velodyne_manager.prototxt

fence_data_path:"/home/zx/data/ground_detect/"
#fence_log_path:"/home/zx/yct/MainStructure/new_electronic_fence/log"
left_model_path:"/home/zx/yct/puai_wj_2021/setting/left_model.txt"
right_model_path:"/home/zx/yct/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:5.0
    min_range:0.1
    min_angle:180
    max_angle:360
    rpm:600
    calib
    {
        # r:0.0310211
        # p:-0.46
        # y:0.514386
        # cz:0.0897851
        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:5.0
    min_range:0.1
    min_angle:0
    max_angle:195
    rpm:600
    calib
    {
        # r:-0.471486
        # p:-0.599778
        # y:0.00246781
        # cz:0.0986272
        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:-3.5
	maxx:0.0
	miny:-2.5
	maxy:2.7
	minz:-0.02
	maxz:0.2
    region_id:0
    lidar_exts
    {
        lidar_id:0
        calib
        {
            cx:0.0
            cy:0.0
        }
    }
    lidar_exts
    {
        lidar_id:1
        calib
        {
            cx:-4.021775
            cy:-0.039429
            # cx:0.05668
            # cy:-3.5723
        }
    }
}

# # 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
#         }
#     }
# }