fence_data_path:"/home/zx/data/fence_wj"
#fence_log_path:"/home/zx/yct/MainStructure/new_electronic_fence/log"
distribution_mode:false

#9
wj_lidar
{
    angle_min:-2.35619449
    angle_max:2.35619449
    angle_increment:0.00582
    time_increment:0.000062
    range_min:0
    range_max:30
    net_config
    {
        ip_address:"192.168.1.219"
        port:2110
    }
    transform
    {
        m00:0.9999
		m01:-0.014
		m02:0.0#-1.87
		m10:0.014
		m11:0.9999
		m12:0.0#-2.03
    }
    scan_limit
    {
        dist_limit:8
        minx:-4.0
        maxx:4.0
        miny:-1.5
        maxy:6.0
    }
    lidar_id:8
}

#10
wj_lidar
{
    angle_min:-2.35619449
    angle_max:2.35619449
    angle_increment:0.00582
    time_increment:0.000062
    range_min:0
    range_max:30
    net_config
    {
        ip_address:"192.168.1.220"
        port:2110
    }
    transform
    {
        m00:-0.99976
		m01:-0.02166
		m02:0.0#-1.8476
		m10:0.02166
		m11:-0.99976
		m12:0.0#1.89293
    }
    scan_limit
    {
        dist_limit:8
        minx:-4.0
        maxx:4.0
        miny:-1.5
        maxy:6.0
    }
    lidar_id:9
}

#11
wj_lidar
{
    angle_min:-2.35619449
    angle_max:2.35619449
    angle_increment:0.00582
    time_increment:0.000062
    range_min:0
    range_max:30
    net_config
    {
        ip_address:"192.168.1.221"
        port:2110
    }
    transform
    {
        m00:0.999
		m01:0.04442
		m02:0.0#1.9111
		m10:-0.04442
		m11:0.999
		m12:0.0#-2.0223
    }
    scan_limit
    {
        dist_limit:8
        minx:-3.0
        maxx:6.0
        miny:-14
        maxy:14
    }
    lidar_id:10
}

#12
wj_lidar
{
    angle_min:-2.35619449
    angle_max:2.35619449
    angle_increment:0.00582
    time_increment:0.000062
    range_min:0
    range_max:30
    net_config
    {
        ip_address:"192.168.1.222"
        port:2110
    }
    transform
    {
        m00:-0.9999
		m01:-0.00311
		m02:0.0#1.9236
		m10:0.00311
		m11:-0.9999
		m12:0.0#1.8811
    }
    scan_limit
    {
        dist_limit:8
        minx:-4.0
        maxx:4.0
        miny:-1.5
        maxy:6.0
    }
    lidar_id:11
}

# #1
# regions
# {
# 	minx:-0.7
# 	maxx:1.8
# 	miny:-2.43
# 	maxy:3.3
# }
# #2
# regions
# {
# 	minx:2.5
# 	maxx:5.2
# 	miny:-2.4
# 	maxy:3.43
# }
# #3
# regions
# {
# 	minx:5.4
# 	maxx:8.7
# 	miny:-2.40
# 	maxy:3.43
# }

# #4
# regions
# {
#     # minx:8.7
#     # maxx:12
#     minx:-1.5
#     maxx:1.5
#     miny:-2.40
#     maxy:3.45

#     minz:0.025
# 	maxz:0.5
#     region_id:3
#     turnplate_cx:0.0
#     turnplate_cy:0.0
#     border_minx:-1.3
#     border_maxx:1.3
#     plc_offsetx:0.0
#     plc_offsety:0.0
#     plc_offset_degree:0.0
#     plc_border_miny:-7.51
#     car_min_width:1.55
#     car_max_width:1.95
#     car_min_wheelbase:2.3
#     car_max_wheelbase:3.15
#     turnplate_angle_limit_anti_clockwise:5.3
#     turnplate_angle_limit_clockwise:5.3

#     lidar_exts
#     {
#         lidar_id:3
#         calib
#         {
#             cx:-14.3
#             cy:0.0
#         }
#     }
#     lidar_exts
#     {
#         lidar_id:4
#         calib
#         {
#             cx:-14.3
#             cy:0.0
#         }
#     }
#     lidar_exts
#     {
#         lidar_id:10
#         calib
#         {
#             cx:-14.3
#             cy:0.0
#         }
#     }
#     lidar_exts
#     {
#         lidar_id:11
#         calib
#         {
#             cx:-14.3
#             cy:0.0
#         }
#     }
# }

#5
regions
{
    minx:-1.42
	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:-1.2
    border_maxx:1.2
    # -1.8683
    plc_offsetx:-1.865
    plc_offsety:-6.11489
    plc_offset_degree:-89.6
    plc_border_miny:-7.51
    car_min_width:1.55
    car_max_width:1.92
    car_min_wheelbase:2.3
    car_max_wheelbase:3.15
    turnplate_angle_limit_anti_clockwise:5.3
    turnplate_angle_limit_clockwise:5.3

    lidar_exts
    {
        lidar_id:8
        calib
        {
            cx:-1.87
            cy:-2.03
        }
    }
    lidar_exts
    {
        lidar_id:9
        calib
        {
            cx:-1.8476
            cy:1.89293
        }
    }
    lidar_exts
    {
        lidar_id:10
        calib
        {
            cx:1.9111
            cy:-2.0223
        }
    }
    lidar_exts
    {
        lidar_id:11
        calib
        {
            cx:1.9236
            cy:1.8811
        }
    }
}

# #6
# regions
# {
#     # minx:15.8
#     # maxx:18.8
#     minx:-1.5
#     maxx:1.5
#     miny:-2.40
#     maxy:3.45

#     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:0.0
#     plc_offsety:0.0
#     plc_offset_degree:0.0
#     plc_border_miny:-7.51
#     car_min_width:1.55
#     car_max_width:1.95
#     car_min_wheelbase:2.3
#     car_max_wheelbase:3.15
#     turnplate_angle_limit_anti_clockwise:5.3
#     turnplate_angle_limit_clockwise:5.3

#     lidar_exts
#     {
#         lidar_id:5
#         calib
#         {
#             cx:-17.3
#             cy:0.0
#         }
#     }
#     lidar_exts
#     {
#         lidar_id:6
#         calib
#         {
#             cx:-17.3
#             cy:0.0
#         }
#     }
#     lidar_exts
#     {
#         lidar_id:12
#         calib
#         {
#             cx:-17.3
#             cy:0.0
#         }
#     }
#     lidar_exts
#     {
#         lidar_id:13
#         calib
#         {
#             cx:-17.3
#             cy:0.0
#         }
#     }
# }
