{
    "note":"参数不要乱改，看的懂改，看不懂看厂家手册，懂了再改！",
    "etc":[
        {
            "enable": true,
            "lidar_type": "RSHELIOS_16P",
            "input_type": "ONLINE_LIDAR",
            "input_param": {
                "msop_port": 6311,
                "difop_port": 7311,
                "host_address": "0.0.0.0",
                "group_address": "0.0.0.0",
                "pcap_path": "",
                "pcap_rate": 1,
                "pcap_repeat": true,
                "use_vlan": false,
                "user_layer_bytes": 0,
                "tail_layer_bytes": 0
            },
            "decoder_param": {
                "wait_for_difop": true,
                "min_distance": 0,
                "max_distance": 14,
                "start_angle": -20,
                "end_angle": 110,
                "use_lidar_clock": false,
                "dense_points": true,
                "config_from_file": false,
                "angle_path": "",
                "split_frame_mode": 1,
                "split_angle": 0,
                "num_blks_split": 1
            },
            "transform": {
                "x": -329,
                "y": 267.2,
                "z": 15,
                "roll": -0.4,
                "pitch": -0.6,
                "yaw": -3.1
            },
            "other": {
                "calibrationFile":"../setting/VLP16db.yaml",
                "lidar_id":6,
                "rpm":600
            }
        },
        {
            "enable": true,
            "lidar_type": "RSHELIOS_16P",
            "input_type": "ONLINE_LIDAR",
            "input_param": {
                "msop_port": 6312,
                "difop_port": 7312,
                "host_address": "0.0.0.0",
                "group_address": "0.0.0.0",
                "pcap_path": "",
                "pcap_rate": 1,
                "pcap_repeat": true,
                "use_vlan": false,
                "user_layer_bytes": 0,
                "tail_layer_bytes": 0
            },
            "decoder_param": {
                "wait_for_difop": true,
                "min_distance": 0,
                "max_distance": 14,
                "start_angle": -110,
                "end_angle": 20,
                "use_lidar_clock": false,
                "dense_points": true,
                "config_from_file": false,
                "angle_path": "",
                "split_frame_mode": 1,
                "split_angle": 0,
                "num_blks_split": 1
            },
            "transform": {
                "x": -331,
                "y": -274,
                "z": 16,
                "roll": 1.2,
                "pitch": 1.7,
                "yaw": 3.8
            },
            "other": {
                "calibrationFile":"../setting/VLP16db.yaml",
                "lidar_id":6,
                "rpm":600
            }
        },
        {
            "enable": true,
            "lidar_type": "RSHELIOS_16P",
            "input_type": "ONLINE_LIDAR",
            "input_param": {
                "msop_port": 6313,
                "difop_port": 7313,
                "host_address": "0.0.0.0",
                "group_address": "0.0.0.0",
                "pcap_path": "",
                "pcap_rate": 1,
                "pcap_repeat": true,
                "use_vlan": false,
                "user_layer_bytes": 0,
                "tail_layer_bytes": 0
            },
            "decoder_param": {
                "wait_for_difop": true,
                "min_distance": 0,
                "max_distance": 14,
                "start_angle": 0,
                "end_angle": 360,
                "use_lidar_clock": false,
                "dense_points": true,
                "config_from_file": false,
                "angle_path": "",
                "split_frame_mode": 1,
                "split_angle": 0,
                "num_blks_split": 1
            },
            "transform": {
                "x": 0,
                "y": 261,
                "z": 17,
                "roll": 0.4,
                "pitch": 0.1,
                "yaw": 89.5
            },
            "other": {
                "calibrationFile":"../setting/VLP16db.yaml",
                "lidar_id":6,
                "rpm":600
            }
        },
        {
            "enable": true,
            "lidar_type": "RSHELIOS_16P",
            "input_type": "ONLINE_LIDAR",
            "input_param": {
                "msop_port": 6314,
                "difop_port": 7314,
                "host_address": "0.0.0.0",
                "group_address": "0.0.0.0",
                "pcap_path": "",
                "pcap_rate": 1,
                "pcap_repeat": true,
                "use_vlan": false,
                "user_layer_bytes": 0,
                "tail_layer_bytes": 0
            },
            "decoder_param": {
                "wait_for_difop": true,
                "min_distance": 0,
                "max_distance": 14,
                "start_angle": -20,
                "end_angle": 200,
                "use_lidar_clock": false,
                "dense_points": true,
                "config_from_file": false,
                "angle_path": "",
                "split_frame_mode": 1,
                "split_angle": 0,
                "num_blks_split": 1
            },
            "transform": {
                "x": 4.6,
                "y": -269,
                "z": 15,
                "roll": 1.9,
                "pitch": 0.4,
                "yaw": 183
            },
            "other": {
                "calibrationFile":"../setting/VLP16db.yaml",
                "lidar_id":6,
                "rpm":600
            }
        },
        {
            "enable": true,
            "lidar_type": "RSHELIOS_16P",
            "input_type": "ONLINE_LIDAR",
            "input_param": {
                "msop_port": 6315,
                "difop_port": 7315,
                "host_address": "0.0.0.0",
                "group_address": "0.0.0.0",
                "pcap_path": "",
                "pcap_rate": 1,
                "pcap_repeat": true,
                "use_vlan": false,
                "user_layer_bytes": 0,
                "tail_layer_bytes": 0
            },
            "decoder_param": {
                "wait_for_difop": true,
                "min_distance": 0,
                "max_distance": 14,
                "start_angle": -110,
                "end_angle": 20,
                "use_lidar_clock": false,
                "dense_points": true,
                "config_from_file": false,
                "angle_path": "",
                "split_frame_mode": 1,
                "split_angle": 0,
                "num_blks_split": 1
            },
            "transform": {
                "x": 327,
                "y": 270,
                "z": 15,
                "roll": 1.06,
                "pitch": 1.03,
                "yaw": 186.3
            },
            "other": {
                "calibrationFile":"../setting/VLP16db.yaml",
                "lidar_id":6,
                "rpm":600
            }
        },
        {
            "enable": true,
            "lidar_type": "RSHELIOS_16P",
            "input_type": "ONLINE_LIDAR",
            "input_param": {
                "msop_port": 6316,
                "difop_port": 7316,
                "host_address": "0.0.0.0",
                "group_address": "0.0.0.0",
                "pcap_path": "",
                "pcap_rate": 1,
                "pcap_repeat": true,
                "use_vlan": false,
                "user_layer_bytes": 0,
                "tail_layer_bytes": 0
            },
            "decoder_param": {
                "wait_for_difop": true,
                "min_distance": 0,
                "max_distance": 14,
                "start_angle": 160,
                "end_angle": 290,
                "use_lidar_clock": false,
                "dense_points": true,
                "config_from_file": false,
                "angle_path": "",
                "split_frame_mode": 1,
                "split_angle": 0,
                "num_blks_split": 1
            },
            "transform": {
                "x": 332.5,
                "y": -259,
                "z": 16,
                "roll": 1.6,
                "pitch": 0.5,
                "yaw": 3
            },
            "other": {
                "calibrationFile":"../setting/VLP16db.yaml",
                "lidar_id":6,
                "rpm":600
            }
        }
    ]
}