camera: {focal_length_x: 386.704446, focal_length_y: 385.973724, optical_center_x: 623.233113,
  optical_center_y: 125.752428, r11: 0.00694243, r12: -0.999938, r13: -0.00866043,
  r21: -0.119195, r22: 0.0077714, r23: -0.99284, r31: 0.992847, r32: 0.00792501, r33: -0.119133,
  t1: 5.05698, t2: 266.065, t3: 26.4768}
car_specs: {mass: 4.8, max_steering_angle_left: 0.416, max_steering_angle_right: 0.4,
  tire_radius: 0.0327, track: 0.1624, vehicle_width: 0.2207, wheelbase: 0.245}
default:
  camera: {focal_length_x: 386.704446, focal_length_y: 385.973724, optical_center_x: 623.233113,
    optical_center_y: 125.752428, r11: 0.0155751, r12: -0.99975, r13: -0.0160351,
    r21: -0.154781, r22: 0.013433, r23: -0.987858, r31: 0.987826, r32: 0.0178679,
    r33: -0.154533, t1: 11.2632, t2: 261.785, t3: 32.317}
perception:
  default:
    ego_vehicle:
      mask_mode: 0
      pixelwise_mask: {modified_mask_path: ~/pixelwise_mask_files/car_mask.pbm, standard_mask_directory: ~/pixelwise_mask_files/,
        standard_mask_name: car_mask.pbm}
      trapezoid_mask: {bottom_left_loc_x: 186, bottom_left_loc_y: 650, bottom_right_loc_x: 1064,
        bottom_right_loc_y: 650, top_left_loc_x: 428, top_left_loc_y: 300, top_right_loc_x: 851,
        top_right_loc_y: 300}
  ego_vehicle:
    mask_mode: 0
    pixelwise_mask: {modified_mask_path: ~/pixelwise_mask_files/car_mask.pbm, standard_mask_directory: ~/pixelwise_mask_files/,
      standard_mask_name: car_mask.pbm}
    trapezoid_mask: {bottom_left_loc_x: 186, bottom_left_loc_y: 650, bottom_right_loc_x: 1064,
      bottom_right_loc_y: 650, top_left_loc_x: 428, top_left_loc_y: 300, top_right_loc_x: 851,
      top_right_loc_y: 300}
  lane_detection:
    debug_mode: false
    default:
      feature_extraction:
        general: {histogram_bin_size: 0.005, scan_line_half_size: 0.1, scan_line_step_size: 0.01,
          sigma_factor: 3}
        segment_boundaries: {far: 1.5, left: 0.4, middle: 0, near: 0.5, outer_left: 0.8,
          right: -0.4}
      input_queue_size: 1
      line_tracking:
        consistency_check_sampling_points: [1.0, 2.0]
        degree_adaption: {enable: true, max_a: 0.1, max_error: 0.015, refit_after_switch: true}
        double_middle_lane: {cluster_min_size: 10, cluster_threshold_relative: 0.04,
          discretization_step: 0.02, left_right_threshold: 0.02, minimal_cluster_length: 0.25,
          outline_localization_threshold: 0.04}
        eps: 0.01
        fitting: {fitting_error_threshold: 1.5, image_points_threshold: 10}
        lane: {sep: 0.42}
        middle_line_point_filtering:
          count_thresh: 15
          count_thresh_ratio: 0.35
          dist_thresh: 0.3
          near_field_dist: 0.0
          prefiltering: {count_thresh: 4, dist_thresh: 0.05}
        midline_recognition: {clustering_distance_thresh: 0.1, enable: true, intra_cluster_distance_thresh: 0.28,
          min_number_of_clusters: 2, min_number_of_points_in_cluster: 10, region_of_interest: 1.0}
        nav_points_threshold: 10
        outer_lines_point_filtering:
          count_thresh: 15
          count_thresh_ratio: 0.35
          dist_thresh: 0.2
          near_field_dist: 0.0
          prefiltering: {count_thresh: 4, dist_thresh: 0.05}
        points_filtering_enabled: true
        polynomial: {degree: 2, max_x: 2.0, min_x: 0, step_x: 0.01, switchdown: 1}
        start_box_handling: {max_A: 0.1, max_B: 0.1, max_error: 0.05, starts_with: false}
        use_alway_init: false
        use_midline_recognition: true
        vehicle_point_equals_eps: 0.001
      output_queue_size: 1
    feature_extraction:
      general: {histogram_bin_size: 0.005, scan_line_half_size: 0.1, scan_line_step_size: 0.01,
        sigma_factor: 3.0}
      segment_boundaries: {far: 1.5, left: 0.4, middle: 0.0, near: 0.5, outer_left: 0.8,
        right: -0.4}
    input_queue_size: 1
    line_tracking:
      consistency_check_sampling_points: [1.0, 2.0]
      degree_adaption: {enable: true, max_a: 0.1, max_error: 0.015, refit_after_switch: true}
      double_middle_lane: {cluster_min_size: 10, cluster_threshold_relative: 0.04,
        discretization_step: 0.02, left_right_threshold: 0.02, minimal_cluster_length: 0.25,
        outline_localization_threshold: 0.04}
      eps: 0.01
      fitting: {fitting_error_threshold: 1.5, image_points_threshold: 10}
      lane: {sep: 0.42}
      middle_line_point_filtering:
        count_thresh: 15
        count_thresh_ratio: 0.35
        dist_thresh: 0.3
        near_field_dist: 0.0
        prefiltering: {count_thresh: 4, dist_thresh: 0.05}
      midline_recognition: {clustering_distance_thresh: 0.1, enable: true, intra_cluster_distance_thresh: 0.28,
        min_number_of_clusters: 2, min_number_of_points_in_cluster: 10, region_of_interest: 1.0}
      nav_points_threshold: 10
      outer_lines_point_filtering:
        count_thresh: 15
        count_thresh_ratio: 0.35
        dist_thresh: 0.2
        near_field_dist: 0.0
        prefiltering: {count_thresh: 4, dist_thresh: 0.05}
      points_filtering_enabled: true
      polynomial: {degree: 2, max_x: 2.0, min_x: 0.0, step_x: 0.01, switchdown: 1}
      start_box_handling: {max_A: 0.1, max_B: 0.1, max_error: 0.05, starts_with: false}
      use_alway_init: false
      vehicle_point_equals_eps: 0.001
    output_queue_size: 1
    start_activated: true
  preprocessing:
    binarisation: {blocksize: 45, c: 25.0, mode: 2, sigma: 0.4}
    default:
      binarisation: {blocksize: 45, c: 25, mode: 2, sigma: 0.4}
      input_queue_size: 1
      median_blur: {median_blur_size: 3}
      output_queue_size: 1
      roi: {end_loc_x: 1280, end_loc_y: 550, start_loc_x: 0, start_loc_y: 70}
    input_queue_size: 1
    median_blur: {median_blur_size: 3}
    output_queue_size: 1
    roi: {end_loc_x: 1280, end_loc_y: 550, start_loc_x: 0, start_loc_y: 70}
    start_activated: true
  road_watcher:
    all_classifiers: true
    area_of_interest_step_size: 0.05
    contour_classifier: {binarization_block_size_contour: 45, binarization_c_contour: 10.0,
      binarization_sigma_contour: 0.2, min_center_distance_to_boundary: 0.05, min_score_th: 0.55,
      sampling_resolution: 0.001, teach_in: false}
    crosswalk_classifier: {black_pixel: 0, bottom_line_row: 10, canny_mask_size: 3,
      canny_thresh_high: 100, canny_thresh_low: 75, guessed_lane_width: 0.5, last_update_dist: 0.7,
      max_separation_dist: 8.0, max_variance: 35.0, min_dist_peds: 0.6, min_projection_on_lane: 0.06,
      min_score: 0.5, min_size_point_vectors: 11, offset_right_left_bound: 8, pedestrian_model_destroy_time: 1.0,
      step_loc_point: 0.01, top_line_row: 15, update_belief: 0.1, white_pixel: 255,
      world_pose_dist: 1.1}
    dbscan: {core_epsilon: 0.35, min_points_to_be_core: 5}
    debug_mode: true
    default:
      all_classifiers: true
      area_of_interest_step_size: 0.05
      contour_classifier: {binarization_block_size_contour: 45, binarization_c_contour: 10,
        binarization_sigma_contour: 0.2, min_center_distance_to_boundary: 0.05, min_score_th: 0.55,
        sampling_resolution: 0.001, teach_in: false}
      crosswalk_classifier: {black_pixel: 0, bottom_line_row: 10, canny_mask_size: 3,
        canny_thresh_high: 100, canny_thresh_low: 75, guessed_lane_width: 0.5, last_update_dist: 0.7,
        max_separation_dist: 8.0, max_variance: 35, min_dist_peds: 0.6, min_projection_on_lane: 0.06,
        min_score: 0.5, min_size_point_vectors: 11, offset_right_left_bound: 8, pedestrian_model_destroy_time: 1.0,
        step_loc_point: 0.01, top_line_row: 15, update_belief: 0.1, white_pixel: 255,
        world_pose_dist: 1.1}
      dbscan: {core_epsilon: 0.35, min_points_to_be_core: 5}
      degree_of_polynomial: 2
      dynamically_restrict_search_pattern: true
      epsilon_newton_method: 0.01
      expand_x: 18
      expand_y: 18
      field_of_vision: {bottom: 550, left: 0, right: 1289, top: 90}
      gradient_detection_thld: 6
      junction_classifier: {adaptive_thresh_blocksize: 15.0, adaptive_thresh_const: -10.0,
        default_is_give_way_line_left: 0.95, default_is_give_way_line_right: 0.95,
        default_is_stop_line_left: 0.95, default_is_stop_line_right: 0.95, filter_size_median: 3,
        give_way_left_middle_line_no_median_falldist: 0, give_way_left_middle_line_no_median_max: 5,
        give_way_left_middle_line_no_median_min: 3, give_way_line_left_angle_diff_fall_dist: 0.1,
        give_way_line_left_angle_diff_max: 0.2, give_way_line_left_angle_diff_min: -0.2,
        give_way_line_left_bottom_line_steps_fall_dist: 0, give_way_line_left_bottom_line_steps_max: 1,
        give_way_line_left_bottom_line_steps_min: 0, give_way_line_left_dist_middlelane_pca_fall_dist: 0.1,
        give_way_line_left_dist_middlelane_pca_max: 0.4, give_way_line_left_dist_middlelane_pca_min: 0.2,
        give_way_line_left_mean0_fall_dist: 10, give_way_line_left_mean0_max: 160,
        give_way_line_left_mean0_min: 96, give_way_line_left_mean1_fall_dist: 2.5,
        give_way_line_left_mean1_max: 14.0, give_way_line_left_mean1_min: 4.5, give_way_line_left_middle_line_no_median_falldist: 1.0,
        give_way_line_left_middle_line_no_median_max: 5.0, give_way_line_left_middle_line_no_median_min: 0.0,
        give_way_line_left_middle_line_steps_fall_dist: 1, give_way_line_left_middle_line_steps_max: 5,
        give_way_line_left_middle_line_steps_min: 4, give_way_line_left_pos_neg_ratio_fall_dist: 0.0,
        give_way_line_left_pos_neg_ratio_max: 1.3, give_way_line_left_pos_neg_ratio_min: 0.7,
        give_way_line_left_top_line_steps_fall_dist: 0, give_way_line_left_top_line_steps_max: 1,
        give_way_line_left_top_line_steps_min: 0, give_way_line_right_angle_diff_fall_dist: 0.1,
        give_way_line_right_angle_diff_max: 0.2, give_way_line_right_angle_diff_min: -0.2,
        give_way_line_right_bottom_line_steps_fall_dist: 0, give_way_line_right_bottom_line_steps_max: 1,
        give_way_line_right_bottom_line_steps_min: 0, give_way_line_right_dist_middlelane_pca_fall_dist: 0.1,
        give_way_line_right_dist_middlelane_pca_max: -0.2, give_way_line_right_dist_middlelane_pca_min: -0.4,
        give_way_line_right_mean0_fall_dist: 10, give_way_line_right_mean0_max: 160,
        give_way_line_right_mean0_min: 96, give_way_line_right_mean1_fall_dist: 2.5,
        give_way_line_right_mean1_max: 14.0, give_way_line_right_mean1_min: 4.5, give_way_line_right_middle_line_no_median_falldist: 1.0,
        give_way_line_right_middle_line_no_median_max: 5.0, give_way_line_right_middle_line_no_median_min: 0.0,
        give_way_line_right_middle_line_steps_fall_dist: 1, give_way_line_right_middle_line_steps_max: 5,
        give_way_line_right_middle_line_steps_min: 4, give_way_line_right_pos_neg_ratio_fall_dist: 0.0,
        give_way_line_right_pos_neg_ratio_max: 1.3, give_way_line_right_pos_neg_ratio_min: 0.7,
        give_way_line_right_top_line_steps_fall_dist: 0, give_way_line_right_top_line_steps_max: 1,
        give_way_line_right_top_line_steps_min: 0, give_way_right_middle_line_no_median_falldist: 0,
        give_way_right_middle_line_no_median_max: 5, give_way_right_middle_line_no_median_min: 3,
        lenght_eigenline: 17, lenght_eigenline_offset: 15, lenght_step_ref_func: 2,
        min_point_dist: 4, mirror_side_no_median_falldist: 0, mirror_side_no_median_max: 0,
        mirror_side_no_median_min: 0, offset_eigenline: 8, rect_add_space_x: 10, rect_add_space_y: 2,
        rect_min_x_size: 40, rect_min_y_size: 10, step_dist: 4, step_function_lenght: 4,
        step_function_offset: 3, step_threshold: 20, stop_left_middle_line_no_median_falldist: 2,
        stop_left_middle_line_no_median_max: 2, stop_left_middle_line_no_median_min: 0,
        stop_line_left_angle_diff_fall_dist: 0.05, stop_line_left_angle_diff_max: 0.2,
        stop_line_left_angle_diff_min: -0.2, stop_line_left_bottom_line_steps_fall_dist: 0,
        stop_line_left_bottom_line_steps_max: 2, stop_line_left_bottom_line_steps_min: 0,
        stop_line_left_dist_middlelane_pca_fall_dist: 0.05, stop_line_left_dist_middlelane_pca_max: 0.22,
        stop_line_left_dist_middlelane_pca_min: 0.13, stop_line_left_mean0_fall_dist: 10,
        stop_line_left_mean0_max: 145, stop_line_left_mean0_min: 85, stop_line_left_mean1_fall_dist: 2,
        stop_line_left_mean1_max: 16, stop_line_left_mean1_min: 6.3, stop_line_left_middle_line_no_median_falldist: 1.0,
        stop_line_left_middle_line_no_median_max: 5.0, stop_line_left_middle_line_no_median_min: 0.0,
        stop_line_left_middle_line_steps_fall_dist: 0, stop_line_left_middle_line_steps_max: 1,
        stop_line_left_middle_line_steps_min: 0, stop_line_left_pos_neg_ratio_fall_dist: 0.05,
        stop_line_left_pos_neg_ratio_max: 1.2, stop_line_left_pos_neg_ratio_min: 0.8,
        stop_line_left_top_line_steps_fall_dist: 0, stop_line_left_top_line_steps_max: 2,
        stop_line_left_top_line_steps_min: 0, stop_line_right_angle_diff_fall_dist: 0.05,
        stop_line_right_angle_diff_max: 0.2, stop_line_right_angle_diff_min: -0.2,
        stop_line_right_bottom_line_steps_fall_dist: 0, stop_line_right_bottom_line_steps_max: 2,
        stop_line_right_bottom_line_steps_min: 0, stop_line_right_dist_middlelane_pca_fall_dist: 0.05,
        stop_line_right_dist_middlelane_pca_max: -0.1, stop_line_right_dist_middlelane_pca_min: -0.4,
        stop_line_right_mean0_fall_dist: 10, stop_line_right_mean0_max: 145, stop_line_right_mean0_min: 95,
        stop_line_right_mean1_fall_dist: 2, stop_line_right_mean1_max: 16, stop_line_right_mean1_min: 6.3,
        stop_line_right_middle_line_no_median_falldist: 1.0, stop_line_right_middle_line_no_median_max: 5.0,
        stop_line_right_middle_line_no_median_min: 0.0, stop_line_right_middle_line_steps_fall_dist: 0,
        stop_line_right_middle_line_steps_max: 1, stop_line_right_middle_line_steps_min: 0,
        stop_line_right_pos_neg_ratio_fall_dist: 0.05, stop_line_right_pos_neg_ratio_max: 1.2,
        stop_line_right_pos_neg_ratio_min: 0.8, stop_line_right_top_line_steps_fall_dist: 0,
        stop_line_right_top_line_steps_max: 2, stop_line_right_top_line_steps_min: 0,
        stop_right_middle_line_no_median_falldist: 2, stop_right_middle_line_no_median_max: 2,
        stop_right_middle_line_no_median_min: 0, threshold_step_eigenline: 5, vertical_offset: 30}
      lane_tolerance: 0.1
      lane_width: 0.4
      max_iterations_newton_method: 20
      max_sampling_distance: 2.0
      min_cluster_size: 9
      min_sampling_distance: 1.0
      obstacle_classifier:
        black_pixel: 0
        branch_part_length: 0.02
        branch_stopping_dist: 60.0
        canny_mask_size: 3
        canny_thld_high: 100
        canny_thld_low: 75
        curve_angle: 0.38
        curve_horizon: 1.7
        discretization_step: 0.02
        general_horizon: 1.9
        histogram_classifier:
          image: {bottom_offset: 0, lateral_offset: 2, top_offset: 2}
          mean_factor: 0.9
          min_cluster_size: 100
          min_clusters: 2
        lane_width: 0.4
        line_touching_obstacle_localizer:
          clustering: {cluster_size_threshold: 2, distance: 3.5}
          line: {max_diff_from_perpend: 0.3, max_variance: 1, max_verticality_eps: 0.22,
            min_single_line_point_number: 6}
          line_expansion: {max_distance_along_line: 6.0, max_distance_to_line: 4.0}
          line_length_thld: 0.1
          look_at_cluster_center_dist: 0.45
          max_obstacle_distance: 3.0
          max_pixel_dist_lane: 8
          min_length_obstacle_lines: 0.1
          roi_generation: {roi_height_around_center: 0.4, roi_width_around_center: 0.12}
          scan_lines: {reference_function_length: 9, step_size: 1, threshold: 6}
          top_of_boxes: {defect_ratio: 0.33, distance_to_end_point: 8.0, distance_to_line: 4.0,
            min_blob_area: 50}
        max_angle_delta_line: 0.2
        max_branch_length: 0.15
        max_branch_scan_length: 1.0
        max_dist_lane_detection_points: 3.0
        max_stddev_inside_vertices: 30.0
        median_window: 13
        min_bv_scan_line_size: 20
        min_mean_inside_vertices: 60.0
        min_score: 0.6
        min_score_ratio_line: 1.4
        min_size_feature_points: 5
        min_size_hits: 4
        min_size_line_steps: 3
        nr_branches: 10
        removal_dist_points_on_lane: 0.04
        removal_x_min: 0.1
        step_func_size: 5
        step_thld: 30.0
        white_pixel: 255
      offset_after_center: 1.0
      offset_before_center: 0.2
      offset_left_of_center: 0.6
      offset_right_of_center: 0.6
      pedestrian_tracker:
        area_ratio: 0.01
        core_epsilon: 0.07
        critical_dist_closest_point: 0.5
        guessed_lane_width: 0.4
        lateral_offset: 0.05
        line_iterator_connectivity: 8
        lower_hist_thresh: 40
        max_dist_inner_line: 0.04
        min_points_to_be_core: 5
        n_scan_lines: 30
        pedestrian_area_length: 0.5
        pedestrian_area_width: 0.3
        pedestrian_model: {activation_time_min: 0.01, max_reset_time: 0.6, obs_prob_max: 0.95,
          obs_prob_min: 0.05, state_trans_high: 0.95, state_trans_low: 0.05, state_trans_med: 0.475,
          state_trans_wait: 0.5}
        pedestrian_threshold: 0.001
        roi_frame: 20
        shift_factor_outer_area: 0.05
        step_detection_ref_func_size: 3
        step_detection_thresh: 4.0
        upper_hist_thresh: 120
      pixel_width: 0.01
      reduced_lane_width: 0.25
      road_closure_classifier:
        black_pixel: 0
        bv_proj_point_close_y_low: 12
        bv_proj_point_far_y_low: 6
        factor_scanlines_horizontal: 9
        feature_points_thresh: 6.0
        feature_points_thresh_bounding_box: 7.0
        guessed_farest_v_factor: 0.2
        guessed_lane_width: 0.5
        histogram_classifier:
          image: {bottom_offset: 0, lateral_offset: 2, top_offset: 2}
          mean_factor: 0.8
          min_cluster_size: 80
          min_clusters: 2
        max_pixel_deviation: 2.7
        min_road_closure_width: 0.15
        min_size_per_lane: 5
        nr_scanlines: 12
        offset_loc_scanlines: 10
        offset_middle_lane: 5
        points_ref_func: 5
        points_ref_func_bounding_box: 3
        points_ref_func_classification_points: 5
        road_closure_angle: 1.01
        scanline_padding_u: 8
        start_y_high: 17
        start_y_low: 15
        white_pixel: 255
      same_road_object_thld: 0.5
      sampling_offset: 10
      sampling_x_end: 3.0
      sampling_x_end_offset: 0.1
      sampling_x_start: 0.4
      sampling_x_step: 0.04
      start_line_classifier: {fixed_score_start_line: 0.8, harris_block_size: 9, harris_corner_threshold: 150,
        harris_k: 0, line_shift: 0.15, max_angle_delta: 0.2, mean_step_size: 0.04,
        min_nr_points: 7, min_score_ratio: 2.0, minimal_harris_max: 0.0005, sobel_window: 3,
        step_det_ref_func_length: 3, step_det_thld: 10, step_det_use_abs: false}
      step_reference_function_length: 9
      threshold1: 500
      threshold2: 900
      trim_factor: 0.2
      unidentified_score_threshold: 0.2
    degree_of_polynomial: 2
    dynamically_restrict_search_pattern: true
    epsilon_newton_method: 0.01
    expand_x: 18
    expand_y: 18
    field_of_vision: {bottom: 550, left: 0, right: 1289, top: 90}
    gradient_detection_thld: 6.0
    junction_classifier: {adaptive_thresh_blocksize: 15, adaptive_thresh_const: -10,
      default_is_give_way_line_left: 0.95, default_is_give_way_line_right: 0.95, default_is_stop_line_left: 0.95,
      default_is_stop_line_right: 0.95, filter_size_median: 3, give_way_left_middle_line_no_median_falldist: 0,
      give_way_left_middle_line_no_median_max: 5, give_way_left_middle_line_no_median_min: 3,
      give_way_line_left_angle_diff_fall_dist: 0.1, give_way_line_left_angle_diff_max: 0.2,
      give_way_line_left_angle_diff_min: -0.2, give_way_line_left_bottom_line_steps_fall_dist: 0,
      give_way_line_left_bottom_line_steps_max: 1, give_way_line_left_bottom_line_steps_min: 0,
      give_way_line_left_dist_middlelane_pca_fall_dist: 0.1, give_way_line_left_dist_middlelane_pca_max: 0.4,
      give_way_line_left_dist_middlelane_pca_min: 0.2, give_way_line_left_mean0_fall_dist: 10.0,
      give_way_line_left_mean0_max: 160.0, give_way_line_left_mean0_min: 96.0, give_way_line_left_mean1_fall_dist: 2.5,
      give_way_line_left_mean1_max: 14.0, give_way_line_left_mean1_min: 4.5, give_way_line_left_middle_line_steps_fall_dist: 1,
      give_way_line_left_middle_line_steps_max: 5, give_way_line_left_middle_line_steps_min: 4,
      give_way_line_left_pos_neg_ratio_fall_dist: 0.0, give_way_line_left_pos_neg_ratio_max: 1.3,
      give_way_line_left_pos_neg_ratio_min: 0.7, give_way_line_left_top_line_steps_fall_dist: 0,
      give_way_line_left_top_line_steps_max: 1, give_way_line_left_top_line_steps_min: 0,
      give_way_line_right_angle_diff_fall_dist: 0.1, give_way_line_right_angle_diff_max: 0.2,
      give_way_line_right_angle_diff_min: -0.2, give_way_line_right_bottom_line_steps_fall_dist: 0,
      give_way_line_right_bottom_line_steps_max: 1, give_way_line_right_bottom_line_steps_min: 0,
      give_way_line_right_dist_middlelane_pca_fall_dist: 0.1, give_way_line_right_dist_middlelane_pca_max: -0.2,
      give_way_line_right_dist_middlelane_pca_min: -0.4, give_way_line_right_mean0_fall_dist: 10.0,
      give_way_line_right_mean0_max: 160.0, give_way_line_right_mean0_min: 96.0, give_way_line_right_mean1_fall_dist: 2.5,
      give_way_line_right_mean1_max: 14.0, give_way_line_right_mean1_min: 4.5, give_way_line_right_middle_line_steps_fall_dist: 1,
      give_way_line_right_middle_line_steps_max: 5, give_way_line_right_middle_line_steps_min: 4,
      give_way_line_right_pos_neg_ratio_fall_dist: 0.0, give_way_line_right_pos_neg_ratio_max: 1.3,
      give_way_line_right_pos_neg_ratio_min: 0.7, give_way_line_right_top_line_steps_fall_dist: 0,
      give_way_line_right_top_line_steps_max: 1, give_way_line_right_top_line_steps_min: 0,
      give_way_right_middle_line_no_median_falldist: 0, give_way_right_middle_line_no_median_max: 5,
      give_way_right_middle_line_no_median_min: 3, lenght_eigenline: 17.0, lenght_eigenline_offset: 15.0,
      lenght_step_ref_func: 2.0, min_point_dist: 4, mirror_side_no_median_falldist: 0,
      mirror_side_no_median_max: 0, mirror_side_no_median_min: 0, offset_eigenline: 8.0,
      rect_add_space_x: 10, rect_add_space_y: 2, rect_min_x_size: 40, rect_min_y_size: 10,
      step_dist: 4, step_function_lenght: 4, step_function_offset: 3, step_threshold: 20,
      stop_left_middle_line_no_median_falldist: 2, stop_left_middle_line_no_median_max: 2,
      stop_left_middle_line_no_median_min: 0, stop_line_left_angle_diff_fall_dist: 0.05,
      stop_line_left_angle_diff_max: 0.2, stop_line_left_angle_diff_min: -0.2, stop_line_left_bottom_line_steps_fall_dist: 0,
      stop_line_left_bottom_line_steps_max: 2, stop_line_left_bottom_line_steps_min: 0,
      stop_line_left_dist_middlelane_pca_fall_dist: 0.05, stop_line_left_dist_middlelane_pca_max: 0.22,
      stop_line_left_dist_middlelane_pca_min: 0.13, stop_line_left_mean0_fall_dist: 10.0,
      stop_line_left_mean0_max: 145.0, stop_line_left_mean0_min: 85.0, stop_line_left_mean1_fall_dist: 2.0,
      stop_line_left_mean1_max: 16.0, stop_line_left_mean1_min: 6.3, stop_line_left_middle_line_steps_fall_dist: 0,
      stop_line_left_middle_line_steps_max: 1, stop_line_left_middle_line_steps_min: 0,
      stop_line_left_pos_neg_ratio_fall_dist: 0.05, stop_line_left_pos_neg_ratio_max: 1.2,
      stop_line_left_pos_neg_ratio_min: 0.8, stop_line_left_top_line_steps_fall_dist: 0,
      stop_line_left_top_line_steps_max: 2, stop_line_left_top_line_steps_min: 0,
      stop_line_right_angle_diff_fall_dist: 0.05, stop_line_right_angle_diff_max: 0.2,
      stop_line_right_angle_diff_min: -0.2, stop_line_right_bottom_line_steps_fall_dist: 0,
      stop_line_right_bottom_line_steps_max: 2, stop_line_right_bottom_line_steps_min: 0,
      stop_line_right_dist_middlelane_pca_fall_dist: 0.05, stop_line_right_dist_middlelane_pca_max: -0.1,
      stop_line_right_dist_middlelane_pca_min: -0.4, stop_line_right_mean0_fall_dist: 10.0,
      stop_line_right_mean0_max: 145.0, stop_line_right_mean0_min: 95.0, stop_line_right_mean1_fall_dist: 2.0,
      stop_line_right_mean1_max: 16.0, stop_line_right_mean1_min: 6.3, stop_line_right_middle_line_steps_fall_dist: 0,
      stop_line_right_middle_line_steps_max: 1, stop_line_right_middle_line_steps_min: 0,
      stop_line_right_pos_neg_ratio_fall_dist: 0.05, stop_line_right_pos_neg_ratio_max: 1.2,
      stop_line_right_pos_neg_ratio_min: 0.8, stop_line_right_top_line_steps_fall_dist: 0,
      stop_line_right_top_line_steps_max: 2, stop_line_right_top_line_steps_min: 0,
      stop_right_middle_line_no_median_falldist: 2, stop_right_middle_line_no_median_max: 2,
      stop_right_middle_line_no_median_min: 0, threshold_step_eigenline: 5.0, vertical_offset: 30}
    lane_tolerance: 0.1
    lane_width: 0.4
    max_iterations_newton_method: 20
    max_sampling_distance: 2.0
    min_cluster_size: 9
    min_sampling_distance: 1.0
    obstacle_classifier:
      black_pixel: 0
      branch_part_length: 0.02
      branch_stopping_dist: 60.0
      canny_mask_size: 3
      canny_thld_high: 100
      canny_thld_low: 75
      curve_angle: 0.38
      curve_horizon: 1.7
      discretization_step: 0.02
      general_horizon: 1.9
      histogram_classifier:
        image: {bottom_offset: 0, lateral_offset: 2, top_offset: 2}
        mean_factor: 0.9
        min_cluster_size: 100
        min_clusters: 2
      lane_width: 0.4
      line_touching_obstacle_localizer:
        clustering: {cluster_size_threshold: 2, distance: 3.5}
        line: {max_diff_from_perpend: 0.3, max_variance: 1.0, max_verticality_eps: 0.22,
          min_single_line_point_number: 6.0}
        line_expansion: {max_distance_along_line: 6.0, max_distance_to_line: 4.0}
        line_length_thld: 0.1
        look_at_cluster_center_dist: 0.45
        max_obstacle_distance: 3.0
        max_pixel_dist_lane: 8
        min_length_obstacle_lines: 0.1
        roi_generation: {roi_height_around_center: 0.4, roi_width_around_center: 0.12}
        scan_lines: {reference_function_length: 9, step_size: 1, threshold: 6.0}
        top_of_boxes: {defect_ratio: 0.33, distance_to_end_point: 8.0, distance_to_line: 4.0,
          min_blob_area: 50}
      max_angle_delta_line: 0.2
      max_branch_length: 0.15
      max_branch_scan_length: 1.0
      max_dist_lane_detection_points: 3.0
      max_stddev_inside_vertices: 30.0
      median_window: 13
      min_bv_scan_line_size: 20
      min_mean_inside_vertices: 60.0
      min_score: 0.6
      min_score_ratio_line: 1.4
      min_size_feature_points: 5
      min_size_hits: 4
      min_size_line_steps: 3
      nr_branches: 10
      removal_dist_points_on_lane: 0.04
      removal_x_min: 0.1
      step_func_size: 5
      step_thld: 30.0
      white_pixel: 255
    offset_after_center: 1.0
    offset_before_center: 0.2
    offset_left_of_center: 0.6
    offset_right_of_center: 0.6
    parking_mode:
      all_classifiers: false
      start_line_classifier: {fixed_score_start_line: 0.8, harris_block_size: 9, harris_corner_threshold: 150,
        harris_k: 0, line_shift: 0.15, max_angle_delta: 0.2, mean_step_size: 0.044,
        min_nr_points: 7, min_score_ratio: 2.0, minimal_harris_max: 0.0005, sobel_window: 3,
        step_det_ref_func_length: 3, step_det_thld: 10, step_det_use_abs: true}
    pedestrian_tracker:
      area_ratio: 0.01
      core_epsilon: 0.07
      critical_dist_closest_point: 0.5
      guessed_lane_width: 0.4
      lateral_offset: 0.05
      line_iterator_connectivity: 8
      lower_hist_thresh: 40
      max_dist_inner_line: 0.04
      min_points_to_be_core: 5
      n_scan_lines: 30
      pedestrian_area_length: 0.5
      pedestrian_area_width: 0.3
      pedestrian_model: {activation_time_min: 0.01, max_reset_time: 0.6, obs_prob_max: 0.95,
        obs_prob_min: 0.05, state_trans_high: 0.95, state_trans_low: 0.05, state_trans_med: 0.475,
        state_trans_wait: 0.5}
      pedestrian_threshold: 0.001
      roi_frame: 20
      shift_factor_outer_area: 0.05
      step_detection_ref_func_size: 3
      step_detection_thresh: 4.0
      upper_hist_thresh: 120
    pixel_width: 0.01
    reduced_lane_width: 0.25
    road_closure_classifier:
      black_pixel: 0
      bv_proj_point_close_y_low: 12
      bv_proj_point_far_y_low: 6
      factor_scanlines_horizontal: 9
      feature_points_thresh: 6.0
      feature_points_thresh_bounding_box: 7.0
      guessed_farest_v_factor: 0.2
      guessed_lane_width: 0.5
      histogram_classifier:
        image: {bottom_offset: 0, lateral_offset: 2, top_offset: 2}
        mean_factor: 0.8
        min_cluster_size: 80
        min_clusters: 2
      max_pixel_deviation: 2.7
      min_road_closure_width: 0.15
      min_size_per_lane: 5
      nr_scanlines: 12
      offset_loc_scanlines: 10
      offset_middle_lane: 5
      points_ref_func: 5
      points_ref_func_bounding_box: 3
      points_ref_func_classification_points: 5
      road_closure_angle: 1.01
      scanline_padding_u: 8
      start_y_high: 17
      start_y_low: 15
      white_pixel: 255
    same_road_object_thld: 0.5
    sampling_offset: 10
    sampling_x_end: 3.0
    sampling_x_end_offset: 0.1
    sampling_x_start: 0.4
    sampling_x_step: 0.04
    start_activated: true
    start_line_classifier: {fixed_score_start_line: 0.8, harris_block_size: 9, harris_corner_threshold: 150,
      harris_k: 0, line_shift: 0.15, max_angle_delta: 0.2, mean_step_size: 0.04, min_nr_points: 7,
      min_score_ratio: 2.0, minimal_harris_max: 0.0005, sobel_window: 3, step_det_ref_func_length: 3,
      step_det_thld: 10.0, step_det_use_abs: false}
    step_reference_function_length: 9.0
    trim_factor: 0.2
    unidentified_score_threshold: 0.2
rosdistro: 'kinetic

  '
roslaunch:
  uris: {host_andi_lenovo_g50_70__37626: 'http://andi-Lenovo-G50-70:37626/', host_andi_lenovo_g50_70__39222: 'http://andi-Lenovo-G50-70:39222/',
    host_andi_lenovo_g50_70__43089: 'http://andi-Lenovo-G50-70:43089/', host_andi_lenovo_g50_70__44505: 'http://andi-Lenovo-G50-70:44505/'}
rosversion: '1.12.12

  '
run_id: 7843438a-0c08-11e8-b093-d07e35d1e683
use_sim_time: true
