{ "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": 6, "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": -328, "y": 264.2, "z": 15, "roll": -0.4, "pitch": -0.6, "yaw": -2.75 }, "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", 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