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/chutian_measure_2021/setting/left_model.txt"
right_model_path:"/home/zx/yct/chutian_measure_2021/setting/right_model.txt"
distribution_mode:false

# 6 lidar 192.168.1.201
velodyne_lidars
{
    ip:""
    port:2368
    model:"VLP16"
    calibrationFile:"../setting/VLP16db.yaml"
    lidar_id:6
    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
    }
}

# 5 lidar 192.168.1.202
velodyne_lidars
{
    ip:""
    port:2369
    model:"VLP16"
    calibrationFile:"../setting/VLP16db.yaml"
    lidar_id:5
    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 192.168.1.203
velodyne_lidars
{
    ip:""
    port:2370
    model:"VLP16"
    calibrationFile:"../setting/VLP16db.yaml"
    lidar_id:4
    max_range:8.0
    min_range:0.1
    min_angle:0
    max_angle:360
    rpm:600
    calib
    {
        r:-0.038115
        p:-0.577136
        y:91.2659
        cz:0.06
    }
}

# 1 region
region
{
    minx:-1.6
	maxx:1.6
	miny:-2.6
	maxy:2.6
	minz:0.025
	maxz:0.5
    region_id:5
    turnplate_cx:0.0
    turnplate_cy:0.0
    border_minx:-1.3
    border_maxx:1.3
    plc_offsetx:1.913
    plc_offsety:5.998
    lidar_exts
    {
        lidar_id:6
        calib
        {
            cx:1.9018
            cy:-0.0175
        }
    }
    lidar_exts
    {
        lidar_id:5
        calib
        {
            #cx:-4.021775
            #cy:-0.039429
            cx:-1.9018
            cy:0.0175
        }
    }
}

# 2 region
# 利用共用雷达标定plc偏移量
# plc_4 = plc_5 + calib5in5 - calib5in4
# plc_4x = 1.913 + (-1.9018) - (1.9095) = -1.8983
# plc_4y = 5.998 + (0.0175) - (-0.019388) = 6.03489
region
{
    minx:-1.5
	maxx:1.5
	miny:-2.6
	maxy:2.3
	minz:0.03
	maxz:0.5
    region_id:4
    turnplate_cx:0.0
    turnplate_cy:0.0
    border_minx:-1.3
    border_maxx:1.3
    plc_offsetx:-1.8983
    plc_offsety:6.03489
    # 4-->5: -3.81895 0.038776
    lidar_exts
    {
        lidar_id:5
        calib
        {
            cx:1.9095
            cy:-0.019388
        }
    }
    lidar_exts
    {
        lidar_id:4
        calib
        {
            cx:-1.9095
            cy:0.019388
        }
    }
}