puai_wj_2021/setting/laser.prototxt

#1号雷达
#  0TFDFG700601881  0TFDFCE00502001 0TFDH5L00684HE1  0TFDH5R006RCJ91

#普爱8*3个雷达

#1号雷达
laser_parameters
{
	type:"Livox"
	is_save_txt:false
	sn:"1LVDG410064MEB1"
	frame_num:700
    mat_r00:-0.0046481
    mat_r01:-0.9979388
    mat_r02:0.0640112
    mat_r03:12200.509
    mat_r10:0.3061189
    mat_r11:0.0595189
    mat_r12:0.9501309
    mat_r13:-2345.693
    mat_r20:-0.9519821
    mat_r21:0.0240113
    mat_r22:0.3052112
    mat_r23:6720.61400
}
laser_parameters
{
	type:"Livox"
	is_save_txt:false
	sn:"1LVDG410064MEB2"
	frame_num:700
    mat_r00:-0.0046481
    mat_r01:-0.9979388
    mat_r02:0.0640112
    mat_r03:12200.509
    mat_r10:0.3061189
    mat_r11:0.0595189
    mat_r12:0.9501309
    mat_r13:-2345.693
    mat_r20:-0.9519821
    mat_r21:0.0240113
    mat_r22:0.3052112
    mat_r23:6720.61400
}
laser_parameters # 故障 id 2
{
	type:"Livox"
	is_save_txt:false
	sn:"1LVDG410064MEB3"
	frame_num:700
    mat_r00:-0.0046481
    mat_r01:-0.9979388
    mat_r02:0.0640112
    mat_r03:12200.509
    mat_r10:0.3061189
    mat_r11:0.0595189
    mat_r12:0.9501309
    mat_r13:-2345.693
    mat_r20:-0.9519821
    mat_r21:0.0240113
    mat_r22:0.3052112
    mat_r23:6720.61400
}
#2号雷达
laser_parameters
{
	type:"Livox"
	is_save_txt:false
	sn:"1LVDG1F006V2WU1"
	frame_num:500
    mat_r00:0.0135042 
    mat_r01:0.9988871 
    mat_r02:0.0451919 
    mat_r03:12198.162 
    mat_r10:-0.3850948
    mat_r11:0.0469052 
    mat_r12:-0.9216841
    mat_r13:3545.251  
    mat_r20:-0.9227782
    mat_r21:-0.0049566
    mat_r22:0.3852997 
    mat_r23:6738.30800
}
laser_parameters
{
	type:"Livox"
	is_save_txt:false
	sn:"1LVDG1F006V2WU2"
	frame_num:500
    mat_r00:0.0135042 
    mat_r01:0.9988871 
    mat_r02:0.0451919 
    mat_r03:12198.162 
    mat_r10:-0.3850948
    mat_r11:0.0469052 
    mat_r12:-0.9216841
    mat_r13:3545.251  
    mat_r20:-0.9227782
    mat_r21:-0.0049566
    mat_r22:0.3852997 
    mat_r23:6738.30800
}
laser_parameters
{
	type:"Livox"
	is_save_txt:false
	sn:"1LVDG1F006V2WU3"
	frame_num:500
    mat_r00:0.0135042 
    mat_r01:0.9988871 
    mat_r02:0.0451919 
    mat_r03:12198.162 
    mat_r10:-0.3850948
    mat_r11:0.0469052 
    mat_r12:-0.9216841
    mat_r13:3545.251  
    mat_r20:-0.9227782
    mat_r21:-0.0049566
    mat_r22:0.3852997 
    mat_r23:6738.30800
}
#3号雷达
laser_parameters
{
	type:"Livox"
	is_save_txt:false
	sn:"1LVDG1S006N93N1"
	frame_num:700
    mat_r00:0.0229183
    mat_r01:-0.9985044
    mat_r02:0.0496393
    mat_r03:5287.829
    mat_r10:0.2763783
    mat_r11:0.0540452
    mat_r12:0.9595283
    mat_r13:-2399.535
    mat_r20:-0.9607757
    mat_r21:-0.0082715
    mat_r22:0.2772034
    mat_r23:6674.29500
}
laser_parameters
{
	type:"Livox"
	is_save_txt:false
	sn:"1LVDG1S006N93N2"
	frame_num:700
    mat_r00:0.0229183
    mat_r01:-0.9985044
    mat_r02:0.0496393
    mat_r03:5287.829
    mat_r10:0.2763783
    mat_r11:0.0540452
    mat_r12:0.9595283
    mat_r13:-2399.535
    mat_r20:-0.9607757
    mat_r21:-0.0082715
    mat_r22:0.2772034
    mat_r23:6674.29500
}
laser_parameters
{
	type:"Livox"
	is_save_txt:false
	sn:"1LVDG1S006N93N3"
	frame_num:700
    mat_r00:0.0229183
    mat_r01:-0.9985044
    mat_r02:0.0496393
    mat_r03:5287.829
    mat_r10:0.2763783
    mat_r11:0.0540452
    mat_r12:0.9595283
    mat_r13:-2399.535
    mat_r20:-0.9607757
    mat_r21:-0.0082715
    mat_r22:0.2772034
    mat_r23:6674.29500
}
#4号雷达
laser_parameters
{
	type:"Livox"
	is_save_txt:false
	sn:"1LVDG1S006G4621"
	frame_num:500
    mat_r00:0.0126959
    mat_r01:0.9992238
    mat_r02:-0.0372968
    mat_r03:5264.606 
    mat_r10:-0.3767520
    mat_r11:-0.0297706
    mat_r12:-0.9258357
    mat_r13:3559.158
    mat_r20:-0.9262271
    mat_r21:0.0258060
    mat_r22:0.3760815
    mat_r23:6721.93300
}
laser_parameters # 故障 id 10
{
	type:"Livox"
	is_save_txt:false
	sn:"1LVDG1S006G4622"
	frame_num:500
    mat_r00:0.0126959
    mat_r01:0.9992238
    mat_r02:-0.0372968
    mat_r03:5264.606 
    mat_r10:-0.3767520
    mat_r11:-0.0297706
    mat_r12:-0.9258357
    mat_r13:3559.158
    mat_r20:-0.9262271
    mat_r21:0.0258060
    mat_r22:0.3760815
    mat_r23:6721.93300
}
laser_parameters
{
	type:"Livox"
	is_save_txt:false
	sn:"1LVDG1S006G4623"
	frame_num:500
    mat_r00:0.0126959
    mat_r01:0.9992238
    mat_r02:-0.0372968
    mat_r03:5264.606 
    mat_r10:-0.3767520
    mat_r11:-0.0297706
    mat_r12:-0.9258357
    mat_r13:3559.158
    mat_r20:-0.9262271
    mat_r21:0.0258060
    mat_r22:0.3760815
    mat_r23:6721.93300
}
#5号雷达
laser_parameters
{
	type:"Livox"
	is_save_txt:false
	sn:"1LVDG1S006MNJG1"
	frame_num:1100
    mat_r00:0.3164810
    mat_r01:-0.9480029
    mat_r02:0.0336194
    mat_r03:-1620.378
    mat_r10:0.2050821
    mat_r11:0.1029815
    mat_r12:0.9733119
    mat_r13:-2364.715
    mat_r20:-0.9261647
    mat_r21:-0.3011400
    mat_r22:0.2270101
    mat_r23:6703.779000
}
laser_parameters
{
	type:"Livox"
	is_save_txt:false
	sn:"1LVDG1S006MNJG2"
	frame_num:1100
    mat_r00:0.3164810
    mat_r01:-0.9480029
    mat_r02:0.0336194
    mat_r03:-1620.378
    mat_r10:0.2050821
    mat_r11:0.1029815
    mat_r12:0.9733119
    mat_r13:-2364.715
    mat_r20:-0.9261647
    mat_r21:-0.3011400
    mat_r22:0.2270101
    mat_r23:6703.779000
}

laser_parameters
{
	type:"Livox"
	is_save_txt:false
	sn:"1LVDG1S006MNJG3"
	frame_num:1100
    mat_r00:0.3164810
    mat_r01:-0.9480029
    mat_r02:0.0336194
    mat_r03:-1620.378
    mat_r10:0.2050821
    mat_r11:0.1029815
    mat_r12:0.9733119
    mat_r13:-2364.715
    mat_r20:-0.9261647
    mat_r21:-0.3011400
    mat_r22:0.2270101
    mat_r23:6703.779000
}

#6号雷达
laser_parameters
{
	type:"Livox"
	is_save_txt:false
	sn:"1LVDFCE00504461"
	frame_num:1000
    mat_r00:0.2753770
    mat_r01:0.9612699
    mat_r02:0.0113092
    mat_r03:-1641.832
    mat_r10:-0.4067668
    mat_r11:0.1271702
    mat_r12:-0.9046370
    mat_r13:3503.771
    mat_r20:-0.8710384
    mat_r21:0.2445160
    mat_r22:0.4260324
    mat_r23:6717.29800
}
laser_parameters
{
	type:"Livox"
	is_save_txt:false
	sn:"1LVDFCE00504462"
	frame_num:1000
    mat_r00:0.2753770
    mat_r01:0.9612699
    mat_r02:0.0113092
    mat_r03:-1641.832
    mat_r10:-0.4067668
    mat_r11:0.1271702
    mat_r12:-0.9046370
    mat_r13:3503.771
    mat_r20:-0.8710384
    mat_r21:0.2445160
    mat_r22:0.4260324
    mat_r23:6717.29800
}
laser_parameters
{
	type:"Livox"
	is_save_txt:false
	sn:"1LVDFCE00504463"
	frame_num:1000
    mat_r00:0.2753770
    mat_r01:0.9612699
    mat_r02:0.0113092
    mat_r03:-1641.832
    mat_r10:-0.4067668
    mat_r11:0.1271702
    mat_r12:-0.9046370
    mat_r13:3503.771
    mat_r20:-0.8710384
    mat_r21:0.2445160
    mat_r22:0.4260324
    mat_r23:6717.29800
}

#7号雷达
laser_parameters
{
	type:"Livox"
	is_save_txt:false
	sn:"1LVDG190069Q141"
	frame_num:1100
    mat_r00:-0.2873471
    mat_r01:-0.9572698
    mat_r02:0.0326608
    mat_r03:19060.742
    mat_r10:0.2812832
    mat_r11:-0.0517402
    mat_r12:0.9582292
    mat_r13:-2301.871
    mat_r20:-0.9155936
    mat_r21:0.2845312
    mat_r22:0.2841312
    mat_r23:6652.31000
}
laser_parameters
{
	type:"Livox"
	is_save_txt:false
	sn:"1LVDG190069Q142"
	frame_num:1100
    mat_r00:-0.2873471
    mat_r01:-0.9572698
    mat_r02:0.0326608
    mat_r03:19060.742
    mat_r10:0.2812832
    mat_r11:-0.0517402
    mat_r12:0.9582292
    mat_r13:-2301.871
    mat_r20:-0.9155936
    mat_r21:0.2845312
    mat_r22:0.2841312
    mat_r23:6652.31000
}
laser_parameters
{
	type:"Livox"
	is_save_txt:false
	sn:"1LVDG190069Q143"
	frame_num:1100
    mat_r00:-0.2873471
    mat_r01:-0.9572698
    mat_r02:0.0326608
    mat_r03:19060.742
    mat_r10:0.2812832
    mat_r11:-0.0517402
    mat_r12:0.9582292
    mat_r13:-2301.871
    mat_r20:-0.9155936
    mat_r21:0.2845312
    mat_r22:0.2841312
    mat_r23:6652.31000
}

#8号雷达
laser_parameters
{
	type:"Livox"
	is_save_txt:false
	sn:"1LVDG1S006Y27R1"
	frame_num:1000
    mat_r00:-0.2963634
    mat_r01:0.9547403
    mat_r02:-0.0252988
    mat_r03:19077.359
    mat_r10:-0.2261306
    mat_r11:-0.0958803
    mat_r12:-0.9693665
    mat_r13:3570.490
    mat_r20:-0.9279189
    mat_r21:-0.2815638
    mat_r22:0.2443113
    mat_r23:6680.68600
}
laser_parameters
{
	type:"Livox"
	is_save_txt:false
	sn:"1LVDG1S006Y27R2"
	frame_num:1000
    mat_r00:-0.2963634
    mat_r01:0.9547403
    mat_r02:-0.0252988
    mat_r03:19077.359
    mat_r10:-0.2261306
    mat_r11:-0.0958803
    mat_r12:-0.9693665
    mat_r13:3570.490
    mat_r20:-0.9279189
    mat_r21:-0.2815638
    mat_r22:0.2443113
    mat_r23:6680.68600
}
laser_parameters
{
	type:"Livox"
	is_save_txt:false
	sn:"1LVDG1S006Y27R3"
	frame_num:1000
    mat_r00:-0.2963634
    mat_r01:0.9547403
    mat_r02:-0.0252988
    mat_r03:19077.359
    mat_r10:-0.2261306
    mat_r11:-0.0958803
    mat_r12:-0.9693665
    mat_r13:3570.490
    mat_r20:-0.9279189
    mat_r21:-0.2815638
    mat_r22:0.2443113
    mat_r23:6680.68600
}