n_threads: 1               # number of threads to use.

r_min: 0.5                 # minimum point distance.
r_max: 100                 # maximum point distance.
n_bins: 200                ## number of radial bins.
n_segments: 720            ## number of radial segments.

max_dist_to_line: 0.35 #0.1     ## maximum vertical distance of point to line to be considered ground.

sensor_height: 1.0 #1.205       # sensor height above ground.
min_slope: 0.0             # minimum slope of a ground line.
max_slope: 3.0             ## maximum slope of a ground line.
max_fit_error: 0.15 #0.05        # maximum error of a point during line fit.
long_threshold: 10.0        ## distance between points after which they are considered far from each other.
max_long_height: 0.3       # maximum height change to previous point in long line.
max_start_height: 0.5      ## maximum difference to estimated ground height to start a new line.
line_search_angle: 0.2     ## how far to search in angular direction to find a line [rad].

gravity_aligned_frame: ""  # Frame which has its z axis aligned with gravity. (Sensor frame if empty.)

latch: false               # latch output topics or not
visualize: false           # visualize segmentation result - USE ONLY FOR DEBUGGING
