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- 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
- # }
- # }
- # }
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