velodyne_manager_chutian.prototxt 2.2 KB

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  1. fence_data_path:"/home/youchen/extra_space/chutian/fence_wj"
  2. #fence_log_path:"/home/zx/yct/MainStructure/new_electronic_fence/log"
  3. left_model_path:"/home/youchen/extra_space/chutian/measure/puai_wj_2021/setting/left_model.txt"
  4. right_model_path:"/home/youchen/extra_space/chutian/measure/puai_wj_2021/setting/right_model.txt"
  5. distribution_mode:false
  6. # 1 lidar
  7. velodyne_lidars
  8. {
  9. ip:""
  10. port:2368
  11. model:"VLP16"
  12. calibrationFile:"../setting/VLP16db.yaml"
  13. lidar_id:0
  14. max_range:8.0
  15. min_range:0.1
  16. min_angle:0
  17. max_angle:360
  18. rpm:600
  19. calib
  20. {
  21. r:-0.276397
  22. p:-0.11717
  23. y:89.6003
  24. cz:0.05467
  25. #r:-0.623165
  26. #p:0.601821
  27. #y:87.0198
  28. #cz:0.101527
  29. }
  30. }
  31. # 2 lidar
  32. velodyne_lidars
  33. {
  34. ip:""
  35. port:2369
  36. model:"VLP16"
  37. calibrationFile:"../setting/VLP16db.yaml"
  38. lidar_id:1
  39. max_range:8.0
  40. min_range:0.1
  41. min_angle:0
  42. max_angle:360
  43. rpm:600
  44. calib
  45. {
  46. r:-0.202484
  47. p:-0.106456
  48. y:88.58717
  49. cz:0.071634
  50. #r:0.462994
  51. #p:1.29624
  52. #y:96.0048
  53. #cz:0.09496
  54. }
  55. }
  56. # # 3 lidar
  57. # velodyne_lidars
  58. # {
  59. # ip:""
  60. # port:2370
  61. # model:"VLP16"
  62. # calibrationFile:"../setting/VLP16db.yaml"
  63. # lidar_id:2
  64. # max_range:5.0
  65. # min_range:0.1
  66. # min_angle:0
  67. # max_angle:360
  68. # rpm:600
  69. # calib
  70. # {
  71. # y:1.57
  72. # }
  73. # }
  74. # 1 region
  75. region
  76. {
  77. minx:-1.6
  78. maxx:1.6
  79. miny:-2.6
  80. maxy:2.6
  81. minz:0.02
  82. maxz:0.2
  83. region_id:0
  84. lidar_exts
  85. {
  86. lidar_id:0
  87. calib
  88. {
  89. cx:1.9018
  90. cy:-0.0175
  91. }
  92. }
  93. lidar_exts
  94. {
  95. lidar_id:1
  96. calib
  97. {
  98. #cx:-4.021775
  99. #cy:-0.039429
  100. cx:-1.9018
  101. cy:0.0175
  102. }
  103. }
  104. }
  105. # # 2 region
  106. # region
  107. # {
  108. # minx:-3.1
  109. # maxx:0
  110. # miny:-2.75
  111. # maxy:3.08
  112. # minz:0.01
  113. # maxz:0.2
  114. # region_id:1
  115. # lidar_exts
  116. # {
  117. # lidar_id:1
  118. # calib
  119. # {
  120. # cx:0.1
  121. # cy:0.3
  122. # }
  123. # }
  124. # lidar_exts
  125. # {
  126. # lidar_id:2
  127. # calib
  128. # {
  129. # cx:0.1
  130. # cy:0.3
  131. # }
  132. # }
  133. # }