CT_project/测量节点/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

#-----------------------------------lidars, id 0-6 from A1-C2

 # 6 lidar 192.168.1.201
velodyne_lidars
{
    ip:""
    # # rshelios16 ---- 192.168.1.208
    port:2367
    model:"RSHELIOS16"
    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:179.276397
         p:-0.11717  #p:-0.11717
         y:-1.572
         cz:0.05467
        # # helios
        # r: -1.920474
        # p: 2.0245645
        # y: 87.24734
        # cz:0.105
    }
    difop:7788
}

# 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:1.4
	miny:-2.6
	maxy:2.6
	minz:0.03 # 0.025
	maxz:0.5
    region_id:5
    turnplate_cx:0.0
    turnplate_cy:0.0
    plc_offsetx:1.913
    plc_offsety:-6.078
    plc_offset_degree:-89.5

    plc_out_of_region {
        border_minx:1.645
        border_maxx:2.090
        plc_border_miny:1.175
        plc_border_maxy:1.255
        car_min_width:1.55
        car_max_width:1.920
        car_min_wheelbase:2.3
        car_max_wheelbase:3.15
        turnplate_angle_limit_anti_clockwise:5.3
        turnplate_angle_limit_clockwise:5.3
    }

    terminal_out_of_region {
        border_minx:1.645
        border_maxx:2.090
        plc_border_miny:1.175
        plc_border_maxy:1.255
        car_min_width:1.55
        car_max_width:1.920
        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
        {
            r:1.0
            p:0.5
            cx:1.86504
            cy:-0.027
        }
    }
    lidar_exts
    {
        lidar_id:5
        calib
        {
            r:1.5
            p:-1.0
            #cx:-4.021775
            #cy:-0.039429
            cx:-1.89004
            cy:0.0
        }
    }
}

# 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:0.031
	maxz:0.5
    region_id:4
    turnplate_cx:0.0
    turnplate_cy:0.0
    # -1.8683
    plc_offsetx:-1.865
    plc_offsety:-6.11489
    plc_offset_degree:-89.5

    plc_out_of_region {
        border_minx:-2.220
        border_maxx:-1.630
        plc_border_miny:1.175
        plc_border_maxy:1.255
        car_min_width:1.55
        car_max_width:1.920
        car_min_wheelbase:2.3
        car_max_wheelbase:3.15
        turnplate_angle_limit_anti_clockwise:5.3
        turnplate_angle_limit_clockwise:5.3
    }

    terminal_out_of_region {
        border_minx:-2.220
        border_maxx:-1.630
        plc_border_miny:1.175
        plc_border_maxy:1.255
        car_min_width:1.55
        car_max_width:1.920
        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
            r:0.1
        }
    }
    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
    plc_offsetx:1.926
    plc_offsety:-6.135
    plc_offset_degree:-89.5

    plc_out_of_region {
        border_minx:1.615
        border_maxx:2.120
        plc_border_miny:1.175
        plc_border_maxy:1.255
        car_min_width:1.55
        car_max_width:1.920
        car_min_wheelbase:2.3
        car_max_wheelbase:3.15
        turnplate_angle_limit_anti_clockwise:5.3
        turnplate_angle_limit_clockwise:5.3
    }

    terminal_out_of_region {
        border_minx:1.615
        border_maxx:2.120
        plc_border_miny:1.175
        plc_border_maxy:1.255
        car_min_width:1.55
        car_max_width:1.920
        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
    # 0.02
    plc_offsetx:-1.871
    # -0.34
    plc_offsety:-6.135
    plc_offset_degree:-89.1

    plc_out_of_region {
        border_minx:-2.190
        border_maxx:-1.635
        plc_border_miny:1.175
        plc_border_maxy:1.255
        car_min_width:1.55
        car_max_width:1.920
        car_min_wheelbase:2.3
        car_max_wheelbase:3.15
        turnplate_angle_limit_anti_clockwise:5.3
        turnplate_angle_limit_clockwise:5.3
    }

    terminal_out_of_region {
        border_minx:-2.190
        border_maxx:-1.635
        plc_border_miny:1.175
        plc_border_maxy:1.255
        car_min_width:1.55
        car_max_width:1.920
        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:0.07
            p:0.0
        }
    }
}

# 1 region
# plcx + -0.06
region
{
    minx:-1.5
	maxx:1.3
	miny:-2.6
	maxy:2.4
	minz:0.031
	maxz:0.5
    region_id:1
    turnplate_cx:0.0
    turnplate_cy:0.0
    plc_offsetx:1.93
    plc_offsety:-6.1368
    plc_offset_degree:-89.5

    plc_out_of_region {
        border_minx:1.640
        border_maxx:2.155
        plc_border_miny:1.175
        plc_border_maxy:1.265
        car_min_width:1.55
        car_max_width:1.920
        car_min_wheelbase:2.3
        car_max_wheelbase:3.15
        turnplate_angle_limit_anti_clockwise:5.3
        turnplate_angle_limit_clockwise:5.3
    }

    terminal_out_of_region {
        border_minx:1.640
        border_maxx:2.155
        plc_border_miny:1.175
        plc_border_maxy:1.265
        car_min_width:1.55
        car_max_width:1.920
        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:0.5
        }
    }
    lidar_exts
    {
        lidar_id:1
        calib
        {
            cx:-1.89911#-1.91111219
            cy:0.053426
            # p:0.5
            r:0.5
            y:-0.2
        }
    }
}

# 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
    plc_offsetx:-1.86
    plc_offsety:-6.1368
    plc_offset_degree:-89.5

    plc_out_of_region {
        border_minx:-2.155
        border_maxx:-1.655
        plc_border_miny:1.175
        plc_border_maxy:1.265
        car_min_width:1.55
        car_max_width:1.920
        car_min_wheelbase:2.3
        car_max_wheelbase:3.15
        turnplate_angle_limit_anti_clockwise:5.3
        turnplate_angle_limit_clockwise:5.3
    }

    terminal_out_of_region {
        border_minx:-2.155
        border_maxx:-1.655
        plc_border_miny:1.175
        plc_border_maxy:1.265
        car_min_width:1.55
        car_max_width:1.920
        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
        }
    }
}