lidar_metrics_parameters:
  range_distribution_health:
    r_min_valid: 0.2
    r_max_valid: 100.0
    range_tolerance_m: 0.1
    number_of_worst_points: 3
    worst_point_min_separation_m: 0.01
  nearest_neighbour_spacing:
    outlier_threshold: 0.2
  local_roughness_knn:
    k: 30
    sample_size: 10000
  spatial_dropout:
    cell_size_m: 0.06483684210526316
    max_dead_cells_reported: 150
  zone_surface_depth_error:
    number_of_worst_points: 3
    worst_point_min_separation_m: 0.01
  point_density_heat_map:
    cell_size_m: 0.05
  point_density_heat_map_over_bag:
    cell_size_m: 0.05
  intensity_uniformity:
    n_bins: 5
  angular_padding_depth_error:
    padding_rad: 0.02
    depth_tolerance_pct: 10
  ray_surface_range_error:
    cell_size_m: 0.05
    step_size_m: 0.02