CT_project/测量节点/setting/wanji_manager.prototxt

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

#1
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:"192.168.1.211"
        port:2110
    }
    transform
    {
        m00:0.999701
	m01:0.0244322
	m02:0#-1.6412
	m10:-0.0244322
	m11:0.999701
	m12:0#-2.3441
    }
    scan_limit
    {
        dist_limit:8
        minx:-4.0
        maxx:4.0
        miny:-1.5
        maxy:6.0
    }
    lidar_id:0
}

#2
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:"192.168.1.212"
        port:2110
    }
    transform
    {
        m00:-0.99992
	m01:0.01236
	m02:0#-1.6706
	m10:-0.01236
	m11:-0.99992
	m12:0#2.3453
    }
    scan_limit
    {
        dist_limit:8
        minx:-4.0
        maxx:4.0
        miny:-1.5
        maxy:6.0
    }
    lidar_id:1
}

#3
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:"192.168.1.213"
        port:2110
    }
    transform
    {
        m00:0.999781
	m01:-0.0209424
	m02:0#1.8655#-2.033
	m10:0.0209424
	m11:0.999781
	m12:0#-2.41#-2.243
    }
    scan_limit
    {
        dist_limit:8
        minx:-4.0
        maxx:4.0
        miny:-1.5
        maxy:6.0
    }
    lidar_id:2
}

#4
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:"192.168.1.214"
        port:2110
    }
    transform
    {
        m00:-0.9976
	m01:-0.06972
	m02:0#1.8761#-1.9663
	m10:0.06972
	m11:-0.9976
	m12:0#2.3286#2.3815
    }
    scan_limit
    {
        dist_limit:8
        minx:-4.0
        maxx:4.0
        miny:-1.5
        maxy:6.0
    }
    lidar_id:3
}

#5
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:"192.168.1.215"
        port:2110
    }
    transform
    {
        m00:0.99997
	m01:0.00728
	m02:0#1.8395#-1.9348
	m10:-0.00728
	m11:0.99997
	m12:0#-2.4037#-2.2882
    }
    scan_limit
    {
        dist_limit:8
        minx:-4.0
        maxx:4.0
        miny:-1.5
        maxy:6.0
    }
    lidar_id:4
}

#6
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:"192.168.1.216"
        port:2110
    }
    transform
    {
        m00:-0.9995
	m01:-0.03147
	m02:0#1.9198#-1.8524
	m10:0.03417
	m11:-0.9995
	m12:0#2.24#2.3954
    }
    scan_limit
    {
        dist_limit:8
        minx:-4.0
        maxx:4.0
        miny:-1.5
        maxy:6.0
    }
    lidar_id:5
}

#7
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:"192.168.1.217"
        port:2110
    }
    transform
    {
        m00:1
	m01:0
	m02:0#1.9424#-1.8714
	m10:0
	m11:1
	m12:0#-2.3569#-2.3391
    }
    scan_limit
    {
        dist_limit:8
        minx:-4.0
        maxx:4.0
        miny:-1.5
        maxy:6.0
    }
    lidar_id:6
}

#8
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:"192.168.1.218"
        port:2110
    }
    transform
    {
        m00:-0.99554
	m01:-0.0944
	m02:0#1.9602#-1.8639
	m10:0.0944
	m11:-0.99554
	m12:0#2.3309#2.3995
    }
    scan_limit
    {
        dist_limit:8
        minx:-4.0
        maxx:4.0
        miny:-1.5
        maxy:6.0
    }
    lidar_id:7
}

#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
    {
        m00:0.998342
	m01:0.057564
	m02:0#-1.812
	m10:-0.057564
	m11:0.998342
	m12:0#-2.514
    }
    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:-0.9997
	m01:0.02258
	m02:0#-1.9153
	m10:-0.02258
	m11:-0.99974
	m12:0#2.226
    }
    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
    {
        m00:0.999981
	m01:-0.00610861
	m02:0#1.898#-1.839
	m10:0.00610861
	m11:0.999981
	m12:0#-2.356#-2.353
    }
    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:-0.99998
	m01:0.00605
	m02:0#1.8454#-1.9305
	m10:-0.00605
	m11:-0.99998
	m12:0#2.3043#2.301
    }
    scan_limit
    {
        dist_limit:8
        minx:-4.0
        maxx:4.0
        miny:-1.5
        maxy:6.0
    }
    lidar_id:11
}

#13
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:"192.168.1.223"
        port:2110
    }
    transform
    {
        m00:0.99997
	m01:-0.0078
	m02:0#2.023
	m10:0.0078
	m11:0.99997
	m12:0#-2.259
    }
    scan_limit
    {
        dist_limit:8
        minx:-4.0
        maxx:4.0
        miny:-1.5
        maxy:6.0
    }
    lidar_id:12
}

#14
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:"192.168.1.224"
        port:2110
    }
    transform
    {
        m00:-0.99986
	m01:0.01685
	m02:0#1.916
	m10:-0.01685
	m11:-0.99986
	m12:0#2.387
    }
    scan_limit
    {
        dist_limit:8
        minx:-4.0
        maxx:4.0
        miny:-1.5
        maxy:6.0
    }
    lidar_id:13
}

#1
regions
{
	minx:-1.42
	maxx:1.5
	miny:-2.6
	maxy:2.3
	minz:0.03
	maxz:0.5
    region_id:0
    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:-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:0
        calib
        {
            cx:-1.6412
            cy:-2.3441
        }
    }
    lidar_exts
    {
        lidar_id:1
        calib
        {
            cx:-1.6706
            cy:2.3453
        }
    }
    lidar_exts
    {
        lidar_id:2
        calib
        {
            cx:1.8655
            cy:-2.41
        }
    }
    lidar_exts
    {
        lidar_id:3
        calib
        {
            cx:1.8761
            cy:2.3286
        }
    }
}

#2
regions
{
	minx:-1.42
	maxx:1.5
	miny:-2.6
	maxy:2.3
	minz:0.03
	maxz:0.5
    region_id:1
    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:-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:2
        calib
        {
            cx:-1.9303
            cy:-2.263
        }
    }
    lidar_exts
    {
        lidar_id:3
        calib
        {
            cx:-1.9363
            cy:2.3815
        }
    }
    lidar_exts
    {
        lidar_id:4
        calib
        {
            cx:1.8395
            cy:-2.4037
        }
    }
    lidar_exts
    {
        lidar_id:5
        calib
        {
            cx:1.9198
            cy:2.24
        }
    }
}

#3
regions
{
	minx:-1.42
	maxx:1.37
	miny:-2.6
	maxy:2.3
	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
    # -1.8683
    plc_offsetx:-1.865
    plc_offsety:-6.11489
    plc_offset_degree:-89.8
    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:4
        calib
        {
            y:2.0 # 20221211 added by yct
            cx:-1.9348
            cy:-2.2882
        }
    }
    lidar_exts
    {
        lidar_id:5
        calib
        {
            cx:-1.8524
            cy:2.3954
        }
    }
    lidar_exts
    {
        lidar_id:6
        calib
        {
            cx:1.9324
            cy:-2.3569
        }
    }
    lidar_exts
    {
        lidar_id:7
        calib
        {
            cx:1.9302
            cy:2.3309
        }
    }
}

#4
regions
{
    # minx:8.7
    # maxx:12
    minx:-1.5
    maxx:1.5
    miny:-2.40
    maxy:2.4

    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:1.926
    plc_offsety:-6.135
    plc_offset_degree:-89.5
    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:6
        calib
        {
            cx:-1.8714
            cy:-2.3391
        }
    }
    lidar_exts
    {
        lidar_id:7
        calib
        {
            cx:-1.8639
            cy:2.3995
        }
    }
    lidar_exts
    {
        lidar_id:8
        calib
        {
            cx:1.91
            cy:-2.33
        }
    }
    lidar_exts
    {
        lidar_id:9
        calib
        {
            cx:1.92
            cy:2.33
        }
    }
}

#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:-89.5
    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:-1.912
            cy:-2.334
        }
    }
    lidar_exts
    {
        lidar_id:9
        calib
        {
            cx:-1.9153
            cy:2.306
        }
    }
    lidar_exts
    {
        lidar_id:10
        calib
        {
            cx:1.898
            cy:-2.334
        }
    }
    lidar_exts
    {
        lidar_id:11
        calib
        {
            cx:1.8454
            cy:2.3343
        }
    }
}

#6
regions
{
    minx:-1.42
	maxx:1.5
	miny:-2.6
	maxy:2.3
	minz:0.03
	maxz:0.5
    region_id:5
    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:-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:10
        calib
        {
            cx:-1.839
            cy:-2.353
        }
    }
    lidar_exts
    {
        lidar_id:11
        calib
        {
            cx:-1.9305
            cy:2.301
        }
    }
    lidar_exts
    {
        lidar_id:12
        calib
        {
            cx:2.023
            cy:-2.259
        }
    }
    lidar_exts
    {
        lidar_id:13
        calib
        {
            cx:1.916
            cy:2.387
        }
    }
}