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rslidar-back.json

rslidar-back.json 14 KB
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  1. {
    2. 

  2.     "note":"参数不要乱改，看的懂改，看不懂看厂家手册，懂了再改！",
    3. 

  3.     "etc":[
    4. 

  4.         {
    5. 

  5.             "enable": true,
    6. 

  6.             "lidar_type": "RSHELIOS_16P",
    7. 

  7.             "input_type": "ONLINE_LIDAR",
    8. 

  8.             "input_param": {
    9. 

  9.                 "msop_port": 6311,
    10. 

  10.                 "difop_port": 7311,
    11. 

  11.                 "host_address": "0.0.0.0",
    12. 

  12.                 "group_address": "0.0.0.0",
    13. 

  13.                 "pcap_path": "",
    14. 

  14.                 "pcap_rate": 1,
    15. 

  15.                 "pcap_repeat": true,
    16. 

  16.                 "use_vlan": false,
    17. 

  17.                 "user_layer_bytes": 0,
    18. 

  18.                 "tail_layer_bytes": 0
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  19.             },
    20. 

  20.             "decoder_param": {
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  21.                 "wait_for_difop": true,
    22. 

  22.                 "min_distance": 0,
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  23.                 "max_distance": 6,
    24. 

  24.                 "start_angle": 0,
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  25.                 "end_angle": 360,
    26. 

  26.                 "use_lidar_clock": false,
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  27.                 "dense_points": true,
    28. 

  28.                 "config_from_file": false,
    29. 

  29.                 "angle_path": "",
    30. 

  30.                 "split_frame_mode": 1,
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  31.                 "split_angle": 0,
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  32.                 "num_blks_split": 1
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  33.             },
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  34.             "transform": {
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  35.                 "x": -327,
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  36.                 "y": 264.2,
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  37.                 "z": 15,
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  38.                 "roll": -0.4,
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  39.                 "pitch": -0.6,
    40. 

  40.                 "yaw": -2.75
    41. 

  41.             },
    42. 

  42.             "other": {
    43. 

  43.                 "calibrationFile":"../setting/VLP16db.yaml",
    44. 

  44.                 "lidar_id":6,
    45. 

  45.                 "rpm":600
    46. 

  46.             }
    47. 

  47.         },
    48. 

  48.         {
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  49.             "enable": true,
    50. 

  50.             "lidar_type": "RSHELIOS_16P",
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  51.             "input_type": "ONLINE_LIDAR",
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  52.             "input_param": {
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  53.                 "msop_port": 6312,
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  54.                 "difop_port": 7312,
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  55.                 "host_address": "0.0.0.0",
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  56.                 "group_address": "0.0.0.0",
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  57.                 "pcap_path": "",
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  58.                 "pcap_rate": 1,
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  59.                 "pcap_repeat": true,
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  60.                 "use_vlan": false,
    61. 

  61.                 "user_layer_bytes": 0,
    62. 

  62.                 "tail_layer_bytes": 0
    63. 

  63.             },
    64. 

  64.             "decoder_param": {
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  65.                 "wait_for_difop": true,
    66. 

  66.                 "min_distance": 0,
    67. 

  67.                 "max_distance": 6,
    68. 

  68.                 "start_angle": 0,
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  69.                 "end_angle": 360,
    70. 

  70.                 "use_lidar_clock": false,
    71. 

  71.                 "dense_points": true,
    72. 

  72.                 "config_from_file": false,
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  73.                 "angle_path": "",
    74. 

  74.                 "split_frame_mode": 1,
    75. 

  75.                 "split_angle": 0,
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  76.                 "num_blks_split": 1
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  77.             },
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  78.             "transform": {
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  79.                 "x": -363.3,
    80. 

  80.                 "y": -197.5,
    81. 

  81.                 "z": 16,
    82. 

  82.                 "roll": -1.1,
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  83.                 "pitch": 0.0,
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  84.                 "yaw": 92.8
    85. 

  85.             },
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  86.             "other": {
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  87.                 "calibrationFile":"../setting/VLP16db.yaml",
    88. 

  88.                 "lidar_id":6,
    89. 

  89.                 "rpm":600
    90. 

  90.             }
    91. 

  91.         },
    92. 

  92.         {
    93. 

  93.             "enable": true,
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  94.             "lidar_type": "RSHELIOS_16P",
    95. 

  95.             "input_type": "ONLINE_LIDAR",
    96. 

  96.             "input_param": {
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  97.                 "msop_port": 6313,
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  98.                 "difop_port": 7313,
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  99.                 "host_address": "0.0.0.0",
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  100.                 "group_address": "0.0.0.0",
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  101.                 "pcap_path": "",
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  102.                 "pcap_rate": 1,
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  103.                 "pcap_repeat": true,
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  104.                 "use_vlan": false,
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  105.                 "user_layer_bytes": 0,
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  106.                 "tail_layer_bytes": 0
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  107.             },
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  108.             "decoder_param": {
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  109.                 "wait_for_difop": true,
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  110.                 "min_distance": 0,
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  111.                 "max_distance": 6,
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  112.                 "start_angle": 0,
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  113.                 "end_angle": 360,
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  114.                 "use_lidar_clock": false,
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  115.                 "dense_points": true,
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  116.                 "config_from_file": false,
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  117.                 "angle_path": "",
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  118.                 "split_frame_mode": 1,
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  119.                 "split_angle": 0,
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  120.                 "num_blks_split": 1
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  121.             },
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  122.             "transform": {
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  123.                 "x": 2.4,
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  124.                 "y": 257.7,
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  125.                 "z": 17,
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  126.                 "roll": 0.4,
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  127.                 "pitch": 0.1,
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  128.                 "yaw": 89.0
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  129.             },
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  130.             "other": {
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  131.                 "calibrationFile":"../setting/VLP16db.yaml",
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  132.                 "lidar_id":6,
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  133.                 "rpm":600
    134. 

  134.             }
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  135.         },
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  136.         {
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  137.             "enable": true,
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  138.             "lidar_type": "RSHELIOS_16P",
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  139.             "input_type": "ONLINE_LIDAR",
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  140.             "input_param": {
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  141.                 "msop_port": 6314,
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  142.                 "difop_port": 7314,
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  143.                 "host_address": "0.0.0.0",
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  144.                 "group_address": "0.0.0.0",
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  145.                 "pcap_path": "",
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  146.                 "pcap_rate": 1,
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  147.                 "pcap_repeat": true,
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  148.                 "use_vlan": false,
    149. 

  149.                 "user_layer_bytes": 0,
    150. 

  150.                 "tail_layer_bytes": 0
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  151.             },
    152. 

  152.             "decoder_param": {
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  153.                 "wait_for_difop": true,
    154. 

  154.                 "min_distance": 0,
    155. 

  155.                 "max_distance": 6,
    156. 

  156.                 "start_angle": 0,
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  157.                 "end_angle": 360,
    158. 

  158.                 "use_lidar_clock": false,
    159. 

  159.                 "dense_points": true,
    160. 

  160.                 "config_from_file": false,
    161. 

  161.                 "angle_path": "",
    162. 

  162.                 "split_frame_mode": 1,
    163. 

  163.                 "split_angle": 0,
    164. 

  164.                 "num_blks_split": 1
    165. 

  165.             },
    166. 

  166.             "transform": {
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  167.                 "x": 0.5,
    168. 

  168.                 "y": -200.4,
    169. 

  169.                 "z": 17,
    170. 

  170.                 "roll": 1.47,
    171. 

  171.                 "pitch": -0.3,
    172. 

  172.                 "yaw": 267
    173. 

  173.             },
    174. 

  174.             "other": {
    175. 

  175.                 "calibrationFile":"../setting/VLP16db.yaml",
    176. 

  176.                 "lidar_id":6,
    177. 

  177.                 "rpm":600
    178. 

  178.             }
    179. 

  179.         },
    180. 

  180.         {
    181. 

  181.             "enable": true,
    182. 

  182.             "lidar_type": "RSHELIOS_16P",
    183. 

  183.             "input_type": "ONLINE_LIDAR",
    184. 

  184.             "input_param": {
    185. 

  185.                 "msop_port": 6315,
    186. 

  186.                 "difop_port": 7315,
    187. 

  187.                 "host_address": "0.0.0.0",
    188. 

  188.                 "group_address": "0.0.0.0",
    189. 

  189.                 "pcap_path": "",
    190. 

  190.                 "pcap_rate": 1,
    191. 

  191.                 "pcap_repeat": true,
    192. 

  192.                 "use_vlan": false,
    193. 

  193.                 "user_layer_bytes": 0,
    194. 

  194.                 "tail_layer_bytes": 0
    195. 

  195.             },
    196. 

  196.             "decoder_param": {
    197. 

  197.                 "wait_for_difop": true,
    198. 

  198.                 "min_distance": 0,
    199. 

  199.                 "max_distance": 6,
    200. 

  200.                 "start_angle": 0,
    201. 

  201.                 "end_angle": 360,
    202. 

  202.                 "use_lidar_clock": false,
    203. 

  203.                 "dense_points": true,
    204. 

  204.                 "config_from_file": false,
    205. 

  205.                 "angle_path": "",
    206. 

  206.                 "split_frame_mode": 1,
    207. 

  207.                 "split_angle": 0,
    208. 

  208.                 "num_blks_split": 1
    209. 

  209.             },
    210. 

  210.             "transform": {
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  211.                 "x": 332,
    212. 

  212.                 "y": 264,
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  213.                 "z": 15,
    214. 

  214.                 "roll": 1.06,
    215. 

  215.                 "pitch": 1.03,
    216. 

  216.                 "yaw": 185.6
    217. 

  217.             },
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  218.             "other": {
    219. 

  219.                 "calibrationFile":"../setting/VLP16db.yaml",
    220. 

  220.                 "lidar_id":6,
    221. 

  221.                 "rpm":600
    222. 

  222.             }
    223. 

  223.         },
    224. 

  224.         {
    225. 

  225.             "enable": true,
    226. 

  226.             "lidar_type": "RSHELIOS_16P",
    227. 

  227.             "input_type": "ONLINE_LIDAR",
    228. 

  228.             "input_param": {
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  229.                 "msop_port": 6316,
    230. 

  230.                 "difop_port": 7316,
    231. 

  231.                 "host_address": "0.0.0.0",
    232. 

  232.                 "group_address": "0.0.0.0",
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  233.                 "pcap_path": "",
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  234.                 "pcap_rate": 1,
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  235.                 "pcap_repeat": true,
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  236.                 "use_vlan": false,
    237. 

  237.                 "user_layer_bytes": 0,
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  238.                 "tail_layer_bytes": 0
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  239.             },
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  240.             "decoder_param": {
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  241.                 "wait_for_difop": true,
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  242.                 "min_distance": 0,
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  243.                 "max_distance": 6,
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  244.                 "start_angle": 0,
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  245.                 "end_angle": 360,
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  246.                 "use_lidar_clock": false,
    247. 

  247.                 "dense_points": true,
    248. 

  248.                 "config_from_file": false,
    249. 

  249.                 "angle_path": "",
    250. 

  250.                 "split_frame_mode": 1,
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  251.                 "split_angle": 0,
    252. 

  252.                 "num_blks_split": 1
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  253.             },
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  254.             "transform": {
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  255.                 "x": 366.2,
    256. 

  256.                 "y": -202,
    257. 

  257.                 "z": 16.6,
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  258.                 "roll": 1.0,
    259. 

  259.                 "pitch": 1.1,
    260. 

  260.                 "yaw": 181.6
    261. 

  261.             },
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  262.             "other": {
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  263.                 "calibrationFile":"../setting/VLP16db.yaml",
    264. 

  264.                 "lidar_id":6,
    265. 

  265.                 "rpm":600
    266. 

  266.             }
    267. 

  267.         },
    268. 

  268.         {
    269. 

  269.             "enable": true,
    270. 

  270.             "lidar_type": "RSHELIOS_16P",
    271. 

  271.             "input_type": "ONLINE_LIDAR",
    272. 

  272.             "input_param": {
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  273.                 "msop_port": 6321,
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  274.                 "difop_port": 7321,
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  275.                 "host_address": "0.0.0.0",
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  276.                 "group_address": "0.0.0.0",
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  277.                 "pcap_path": "",
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  278.                 "pcap_rate": 1,
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  279.                 "pcap_repeat": true,
    280. 

  280.                 "use_vlan": false,
    281. 

  281.                 "user_layer_bytes": 0,
    282. 

  282.                 "tail_layer_bytes": 0
    283. 

  283.             },
    284. 

  284.             "decoder_param": {
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  285.                 "wait_for_difop": true,
    286. 

  286.                 "min_distance": 0,
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  287.                 "max_distance": 6,
    288. 

  288.                 "start_angle": 0,
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  289.                 "end_angle": 360,
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  290.                 "use_lidar_clock": false,
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  291.                 "dense_points": true,
    292. 

  292.                 "config_from_file": false,
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  293.                 "angle_path": "",
    294. 

  294.                 "split_frame_mode": 1,
    295. 

  295.                 "split_angle": 0,
    296. 

  296.                 "num_blks_split": 1
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  297.             },
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  298.             "transform": {
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  299.                 "x": -175,
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  300.                 "y": 269.5,
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  301.                 "z": 14,
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  302.                 "roll": -0.8,
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  303.                 "pitch": -1.9,
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  304.                 "yaw": 267.2
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  305.             },
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  306.             "other": {
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  307.                 "calibrationFile":"../setting/VLP16db.yaml",
    308. 

  308.                 "lidar_id":6,
    309. 

  309.                 "rpm":600
    310. 

  310.             }
    311. 

  311.         },
    312. 

  312.         {
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  313.             "enable": true,
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  314.             "lidar_type": "RSHELIOS_16P",
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  315.             "input_type": "ONLINE_LIDAR",
    316. 

  316.             "input_param": {
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  317.                 "msop_port": 6322,
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  318.                 "difop_port": 7322,
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  319.                 "host_address": "0.0.0.0",
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  320.                 "group_address": "0.0.0.0",
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  321.                 "pcap_path": "",
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  322.                 "pcap_rate": 1,
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  323.                 "pcap_repeat": true,
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  324.                 "use_vlan": false,
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  325.                 "user_layer_bytes": 0,
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  326.                 "tail_layer_bytes": 0
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  327.             },
    328. 

  328.             "decoder_param": {
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  329.                 "wait_for_difop": true,
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  330.                 "min_distance": 0,
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  331.                 "max_distance": 6,
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  332.                 "start_angle": 0,
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  333.                 "end_angle": 360,
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  334.                 "use_lidar_clock": false,
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  335.                 "dense_points": true,
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  336.                 "config_from_file": false,
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  337.                 "angle_path": "",
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  338.                 "split_frame_mode": 1,
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  339.                 "split_angle": 0,
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  340.                 "num_blks_split": 1
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  341.             },
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  342.             "transform": {
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  343.                 "x": -219.3,
    344. 

  344.                 "y": -192.3,
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  345.                 "z": 14.5,
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  346.                 "roll": 1.2,
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  347.                 "pitch": -1.1,
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  348.                 "yaw": -0.9
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  349.             },
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  351.                 "calibrationFile":"../setting/VLP16db.yaml",
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  352.                 "lidar_id":6,
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  353.                 "rpm":600
    354. 

  354.             }
    355. 

  355.         },
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  356.         {
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  357.             "enable": true,
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  358.             "lidar_type": "RSHELIOS_16P",
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  359.             "input_type": "ONLINE_LIDAR",
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  360.             "input_param": {
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  367.                 "pcap_repeat": true,
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  371.             },
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  372.             "decoder_param": {
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  373.                 "wait_for_difop": true,
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  379.                 "dense_points": true,
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  380.                 "config_from_file": false,
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  381.                 "angle_path": "",
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  382.                 "split_frame_mode": 1,
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  383.                 "split_angle": 0,
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  384.                 "num_blks_split": 1
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  385.             },
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  386.             "transform": {
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  389.                 "z": 16.5,
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  392.                 "yaw": 175.7
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  393.             },
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  394.             "other": {
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  395.                 "calibrationFile":"../setting/VLP16db.yaml",
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  396.                 "lidar_id":6,
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  397.                 "rpm":600
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  398.             }
    399. 

  399.         },
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  400.         {
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  401.             "enable": true,
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  402.             "lidar_type": "RSHELIOS_16P",
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  403.             "input_type": "ONLINE_LIDAR",
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  409.                 "pcap_path": "",
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  410.                 "pcap_rate": 1,
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  411.                 "pcap_repeat": true,
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  412.                 "use_vlan": false,
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  413.                 "user_layer_bytes": 0,
    414. 

  414.                 "tail_layer_bytes": 0
    415. 

  415.             },
    416. 

  416.             "decoder_param": {
    417. 

  417.                 "wait_for_difop": true,
    418. 

  418.                 "min_distance": 0,
    419. 

  419.                 "max_distance": 6,
    420. 

  420.                 "start_angle": 0,
    421. 

  421.                 "end_angle": 360,
    422. 

  422.                 "use_lidar_clock": false,
    423. 

  423.                 "dense_points": true,
    424. 

  424.                 "config_from_file": false,
    425. 

  425.                 "angle_path": "",
    426. 

  426.                 "split_frame_mode": 1,
    427. 

  427.                 "split_angle": 0,
    428. 

  428.                 "num_blks_split": 1
    429. 

  429.             },
    430. 

  430.             "transform": {
    431. 

  431.                 "x": 203.8,
    432. 

  432.                 "y": -211.3,
    433. 

  433.                 "z": 15.5,
    434. 

  434.                 "roll": -0.2,
    435. 

  435.                 "pitch": -0.5,
    436. 

  436.                 "yaw": 182.7
    437. 

  437.             },
    438. 

  438.             "other": {
    439. 

  439.                 "calibrationFile":"../setting/VLP16db.yaml",
    440. 

  440.                 "lidar_id":6,
    441. 

  441.                 "rpm":600
    442. 

  442.             }
    443. 

  443.         }
    444. 

  444.     ]
    445. 

  445. }
    446.