{
    "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": 6321,
                "difop_port": 7321,
                "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": 5,
                "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": -175,
                "y": 269.5,
                "z": 14,
                "roll": -0.8,
                "pitch": -1.9,
                "yaw": 267.5
            },
            "other": {
                "calibrationFile":"../setting/VLP16db.yaml",
                "lidar_id":6,
                "rpm":600
            }
        },
        {
            "enable": true,
            "lidar_type": "RSHELIOS_16P",
            "input_type": "ONLINE_LIDAR",
            "input_param": {
                "msop_port": 6322,
                "difop_port": 7322,
                "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": 5,
                "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": -189.3,
                "y": -255.7,
                "z": 14.5,
                "roll": 0.0,
                "pitch": -2.0,
                "yaw": 0.5
            },
            "other": {
                "calibrationFile":"../setting/VLP16db.yaml",
                "lidar_id":6,
                "rpm":600
            }
        },
        {
            "enable": true,
            "lidar_type": "RSHELIOS_16P",
            "input_type": "ONLINE_LIDAR",
            "input_param": {
                "msop_port": 6323,
                "difop_port": 7323,
                "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": 5,
                "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": 176,
                "y": 257,
                "z": 16.5,
                "roll": 0.1,
                "pitch": 0,
                "yaw": 176.4
            },
            "other": {
                "calibrationFile":"../setting/VLP16db.yaml",
                "lidar_id":6,
                "rpm":600
            }
        },
        {
            "enable": true,
            "lidar_type": "RSHELIOS_16P",
            "input_type": "ONLINE_LIDAR",
            "input_param": {
                "msop_port": 6324,
                "difop_port": 7324,
                "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": 5,
                "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": 170.1,
                "y": -268.7,
                "z": 16,
                "roll": -0.3,
                "pitch": -0.5,
                "yaw": 175.6
            },
            "other": {
                "calibrationFile":"../setting/VLP16db.yaml",
                "lidar_id":6,
                "rpm":600
            }
        }
    ]
}