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|`publish_outlier_pointcloud`| bool | false | Flag to publish outlier pointcloud and visibility score. Due to performance concerns, please set to false during experiments. |
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|`min_azimuth_deg`| float | 0.0 | The left limit of azimuth for visibility score calculation |
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|`max_azimuth_deg`| float | 360.0 | The right limit of azimuth for visibility score calculation |
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|`max_distance`| float | 12.0 | The limit distance for for visibility score calculation |
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|`max_distance`| float | 12.0 | The limit distance for visibility score calculation|
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|`vertical_bins`| int | 128 | The number of vertical bin for visibility histogram |
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|`horizontal_bins`| int | 36 | The number of horizontal bin for visibility histogram |
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|`noise_threshold`| int | 2 | The parameter for determining whether it is noise |
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