/**:
  ros__parameters:
    allow_remapping_by_area_matrix:
      # NOTE(kl): We turn all vehicles into trailers if they go over 3x12 [m^2].
      # NOTE(kl): We turn cars into trucks if they have an area between 2.2 x 5.5 and 3.0 * 12.0 [m^2]
      # row: original class. column: class to remap to
      #UNKNOWN, CAR, TRUCK, BUS,  TRAILER, MOTORBIKE, BICYCLE,PEDESTRIAN
      [0,       0,   0,     0,    0,       0,         0,      0,         #UNKNOWN
       0,       0,   1,     0,    1,       0,         0,      0,         #CAR
       0,       0,   0,     0,    1,       0,         0,      0,         #TRUCK
       0,       0,   0,     0,    1,       0,         0,      0,         #BUS
       0,       0,   0,     0,    0,       0,         0,      0,         #TRAILER
       0,       0,   0,     0,    0,       0,         0,      0,         #MOTORBIKE
       0,       0,   0,     0,    0,       0,         0,      0,         #BICYCLE
       0,       0,   0,     0,    0,       0,         0,      0]         #PEDESTRIAN

    min_area_matrix:
      #UNKNOWN, CAR,   TRUCK,   BUS,   TRAILER,  MOTORBIKE, BICYCLE, PEDESTRIAN
      [ 0.000,  0.000,  0.000,  0.000,  0.000,   0.000,     0.000,   0.000,      #UNKNOWN
        0.000,  0.000, 12.100,  0.000, 36.000,   0.000,     0.000,   0.000,      #CAR
        0.000,  0.000,  0.000,  0.000, 36.000,   0.000,     0.000,   0.000,      #TRUCK
        0.000,  0.000,  0.000,  0.000, 36.000,   0.000,     0.000,   0.000,      #BUS
        0.000,  0.000,  0.000,  0.000,  0.000,   0.000,     0.000,   0.000,      #TRAILER
        0.000,  0.000,  0.000,  0.000,  0.000,   0.000,     0.000,   0.000,      #MOTORBIKE
        0.000,  0.000,  0.000,  0.000,  0.000,   0.000,     0.000,   0.000,      #BICYCLE
        0.000,  0.000,  0.000,  0.000,  0.000,   0.000,     0.000,   0.000]      #PEDESTRIAN


    max_area_matrix:
      #UNKNOWN, CAR,   TRUCK,  BUS,    TRAILER,   MOTORBIKE, BICYCLE, PEDESTRIAN
      [ 0.000,  0.000,  0.000,  0.000,   0.000,   0.000,     0.000,   0.000,      #UNKNOWN
        0.000,  0.000, 36.000,  0.000, 999.999,   0.000,     0.000,   0.000,      #CAR
        0.000,  0.000,  0.000,  0.000, 999.999,   0.000,     0.000,   0.000,      #TRUCK
        0.000,  0.000,  0.000,  0.000, 999.999,   0.000,     0.000,   0.000,      #BUS
        0.000,  0.000,  0.000,  0.000,   0.000,   0.000,     0.000,   0.000,      #TRAILER
        0.000,  0.000,  0.000,  0.000,   0.000,   0.000,     0.000,   0.000,      #MOTORBIKE
        0.000,  0.000,  0.000,  0.000,   0.000,   0.000,     0.000,   0.000,      #BICYCLE
        0.000,  0.000,  0.000,  0.000,   0.000,   0.000,     0.000,   0.000]      #PEDESTRIAN