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 #-----------------------------------lidars, id 0-6 from A1-C2 # 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:88.703 #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 } } # 4 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 } } # 3 lidar 192.168.1.204 velodyne_lidars { ip:"" port:2371 model:"VLP16" calibrationFile:"../setting/VLP16db.yaml" lidar_id:3 max_range:8.0 min_range:0.1 min_angle:0 max_angle:360 rpm:600 calib { r:-0.06283 p:0.48588 y:91.4077 cz:0.071 } } # 2 lidar 192.168.1.205 velodyne_lidars { ip:"" port:2372 model:"VLP16" calibrationFile:"../setting/VLP16db.yaml" lidar_id:2 max_range:8.0 min_range:0.1 min_angle:0 max_angle:360 rpm:600 calib { r:-0.1073 p:0.65674 y:86.3796 cz:0.04 } } # 1 lidar 192.168.1.206 velodyne_lidars { ip:"" port:2373 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:-0.01438 p:0.108841 y:91.3879 cz:0.0686 } } # 0 lidar 192.168.1.207 # p:0.68354 - 0.4092 velodyne_lidars { ip:"" port:2374 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:0.03026 # p:0.68354 p:0 y:90.6538 cz:0.07697 } } #-----------------------------------regions, 0-5 from A1 to C2 # 5 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:-1.2 border_maxx:1.2 plc_offsetx:1.913 plc_offsety:-6.078 plc_offset_degree:-89.5 plc_border_miny:1.2 plc_border_maxy:1.28 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:6 calib { cx:1.89004 cy:0 } } lidar_exts { lidar_id:5 calib { #cx:-4.021775 #cy:-0.039429 cx:-1.89004 cy:0 } } } # 4 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 # 20211209 x+(1cm) region { 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:-89.5 plc_border_miny:1.2 plc_border_maxy:1.28 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 # 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 } } } # 3 region region { minx:-1.3 maxx:1.37 miny:-2.6 maxy:2.35 minz:0.03 maxz:0.5 region_id:3 turnplate_cx:0.0 turnplate_cy:0.0 border_minx:-1.2 border_maxx:1.2 plc_offsetx:1.926 plc_offsety:-6.135 plc_offset_degree:-89.5 plc_border_miny:1.2 plc_border_maxy:1.28 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 # 3-->4: -3.80394 (-0.01385+0.02) lidar_exts { lidar_id:4 calib { cx:1.902 cy:-0.0031 cz:0.015 } } lidar_exts { lidar_id:3 calib { cx:-1.902 cy:0.0031 } } } # 2 region region { minx:-1.3 maxx:1.37 miny:-2.6 maxy:2.35 minz:0.03 maxz:0.5 region_id:2 turnplate_cx:0.0 turnplate_cy:0.0 border_minx:-1.2 border_maxx:1.2 # 0.02 plc_offsetx:-1.871 # -0.34 plc_offsety:-6.135 plc_offset_degree:-89.1 plc_border_miny:1.2 plc_border_maxy:1.28 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 # 2-->3: -3.87778 (-0.052905-0.025) # 20220215 宽度调整 x-0.02 lidar_exts { lidar_id:3 calib { cx:1.9289 cy:0.01395 } } lidar_exts { lidar_id:2 calib { # cx-1.9389+0.04 cy-0.01395+0.03 cx:-1.89 cy:0.016 cz:0.08 p:-1.5 } } } # 1 region # plcx + -0.06 region { minx:-1.5 maxx:1.3 miny:-2.6 maxy:2.3 minz:0.032 maxz:0.5 region_id:1 turnplate_cx:0.0 turnplate_cy:0.0 border_minx:-1.2 border_maxx:1.2 plc_offsetx:1.93 plc_offsety:-6.1368 plc_offset_degree:-89.5 plc_border_miny:1.2 plc_border_maxy:1.28 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 # 2-->1: 3.82222438 -0.106852 # 20220215 宽度调整 x-0.04 lidar_exts { lidar_id:2 calib { cx:1.89911#1.91111219 cy:-0.053426 cz:-0.005 p:-1.5 # y:1.0 } } lidar_exts { lidar_id:1 calib { cx:-1.89911#-1.91111219 cy:0.053426 # p:0.5 } } } # 0 region # center -0.03, 0.4653 ---> -1.89, -5.6415 # pcly + -0.03 region { minx:-1.5 maxx:1.5 miny:-2.6 maxy:2.3 minz:0.032 maxz:0.5 region_id:0 turnplate_cx:0.0 turnplate_cy:0.0 border_minx:-1.2 border_maxx:1.2 plc_offsetx:-1.86 plc_offsety:-6.1368 plc_offset_degree:-89.5 plc_border_miny:1.2 plc_border_maxy:1.28 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 # 1-->0: 3.8173811 -0.0273465 # 20220215 宽度调整 x-0.015 lidar_exts { lidar_id:1 calib { cx:1.9012 cy:-0.01367 } } lidar_exts { lidar_id:0 calib { cx:-1.9012 cy:0.01367 } } }