Measure/Modules/DataToCloud/etc/rslidar.json

{
    "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",
                "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": -364.3,
                "y": -197.5,
                "z": 16,
                "roll": -1.1,
                "pitch": 0.0,
                "yaw": 92.8
            },
            "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": 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": 2.4,
                "y": 257.7,
                "z": 17,
                "roll": 0.4,
                "pitch": 0.1,
                "yaw": 89.0
            },
            "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": 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": 0.5,
                "y": -200.4,
                "z": 17,
                "roll": 1.47,
                "pitch": -0.3,
                "yaw": 267
            },
            "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": 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": 330,
                "y": 261.4,
                "z": 15,
                "roll": 1.06,
                "pitch": 1.03,
                "yaw": 185.8
            },
            "other": {
                "calibrationFile":"../setting/VLP16db.yaml",
                "lidar_id":6,
                "rpm":600
            }
        },
        {
            "enable": true,
            "lidar_type": "RSHELIOS_16P",
            "input_type": "ONLINE_LIDAR",
            "input_param": {
                "msop_port": 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": 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": 365.2,
                "y": -199,
                "z": 16.6,
                "roll": 1.0,
                "pitch": 1.1,
                "yaw": 181.6
            },
            "other": {
                "calibrationFile":"../setting/VLP16db.yaml",
                "lidar_id":6,
                "rpm":600
            }
        },
        {
            "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": 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": -174,
                "y": 269.5,
                "z": 14,
                "roll": -0.8,
                "pitch": -1.9,
                "yaw": 267.2
            },
            "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": 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": -217.3,
                "y": -192.3,
                "z": 14.5,
                "roll": 1.2,
                "pitch": -1.1,
                "yaw": -0.9
            },
            "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": 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": 176.5,
                "y": 254,
                "z": 16.5,
                "roll": 0.1,
                "pitch": 0,
                "yaw": 175.7
            },
            "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": 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": 201.8,
                "y": -211.3,
                "z": 15.5,
                "roll": -0.1,
                "pitch": -0.5,
                "yaw": 182.7
            },
            "other": {
                "calibrationFile":"../setting/VLP16db.yaml",
                "lidar_id":6,
                "rpm":600
            }
        }
    ]
}