velodyne_manager.prototxt 2.3 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:6
  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:5
  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:0.025
  82. maxz:1.0
  83. region_id:5
  84. turnplate_cx:0.0
  85. turnplate_cy:0.0
  86. border_minx:-1.3
  87. border_maxx:1.3
  88. plc_offsetx:1.913
  89. plc_offsety:5.998
  90. lidar_exts
  91. {
  92. lidar_id:6
  93. calib
  94. {
  95. cx:1.9018
  96. cy:-0.0175
  97. }
  98. }
  99. lidar_exts
  100. {
  101. lidar_id:5
  102. calib
  103. {
  104. #cx:-4.021775
  105. #cy:-0.039429
  106. cx:-1.9018
  107. cy:0.0175
  108. }
  109. }
  110. }
  111. # # 2 region
  112. # region
  113. # {
  114. # minx:-3.1
  115. # maxx:0
  116. # miny:-2.75
  117. # maxy:3.08
  118. # minz:0.01
  119. # maxz:0.2
  120. # region_id:1
  121. # lidar_exts
  122. # {
  123. # lidar_id:1
  124. # calib
  125. # {
  126. # cx:0.1
  127. # cy:0.3
  128. # }
  129. # }
  130. # lidar_exts
  131. # {
  132. # lidar_id:2
  133. # calib
  134. # {
  135. # cx:0.1
  136. # cy:0.3
  137. # }
  138. # }
  139. # }