{
  "lidar_00": {
    "LogLevel": 4,
    "timeout": 900,
    "log_path": "",
    "log_write_mode": "app",
    "pc_in_lidar_coordinate_system": true,
    "enable_gd_warning": true,
    "enable_yaw_warning": false,
    "vehicle_limit": {
      "min_x_velocity": 5.5,
      "max_yaw_rate": 1.0
    },
    "GroundSegmentor": {
      "verbose": false,
      "horizontal_fov": 120.0,
      "nchannels": 128,
      "nscans": 1200,
      "y_limit": 18.0,
      "ground_diff_z_standard_limit": 1.0,
      "max_range": 100.0,
      "min_range": 1.0,
      "y_max_interval": 1.0,
      "x_max_interval": 2.0,
      "inlier_thres": 0.15,
      "inlier_rate_thres": 0.7,   
      "num_iter": 2,
      "num_lpr": 20,
      "th_seeds": 0.5,
      "th_dist": 0.1,
      "th_seeds_v": 0.3,
      "th_dist_v": 0.3,
      "uprightness_thr": 0.90,
      "adaptive_seed_selection_margin": -1.2,
      "czm": {
        "num_zones": 4,
        "num_sectors_each_zone": [1, 3, 6, 10],
        "num_rings_each_zone": [3, 3, 3, 3],
        "elevation_thresholds": [0, 0, 0, 0],
        "flatness_thresholds": [0, 0, 0, 0],        
        "num_min_pts": [100, 100, 100, 100],
        "roi_roll_area": [8, 41, -1.5, 1.5],
        "roi_pitch_area": [23, 41, -9, 9]
      },
      "RNR_ver_angle_thr": -20.0,
      "RNR_intensity_thr": 100.0,
      "max_flatness_storage": 1000,
      "max_elevation_storage": 1000,
      "min_gd_pts": 500,
      "num_pca_iter": 0,
      "min_roll_roi_pts": 700,
      "min_pitch_roi_pts": 300,
      "min_roll_roi_completeness": 0.3,
      "min_pitch_roi_completeness": 0.1
    },
    "GroundEstimator": {

    },
    "MisRecorder": {
      "step_len": 600,
      "roll_thres": 1.5,
      "pitch_thres": 1.5,
      "yaw_thres": 1.5,
      "roll_list_std_thres": 1.0,
      "pitch_list_std_thres": 1.0      
    },
    "LaneCalibrator": {
      "start_x_thres": 5.0,
      "c0_thres": 3.0,
      "c1_thres": 0.005,
      "c2_thres": 0.001,
      "c3_thres": 0.000001,
      "length_thres": 20.0,
      "slope_x": 7.5
    }
  }
}