puai_wj_2021/setting/velodyne_manager.prototxt

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:5.0
    min_range:0.1
    min_angle:0
    max_angle:360
    rpm:600
    calib
    {
        y:1.57
    }
}

# 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:360
    rpm:600
    calib
    {
        y:1.57
    }
}

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

# 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
        }
    }
}