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: 0.205, wheelbase: 0.245}
common:
  diagnostic_aggregator:
    analyzers:
      communication: {find_and_remove_prefix: controller_interface, path: ControllerInterface,
        type: GenericAnalyzer}
      controller: {find_and_remove_prefix: arduino, path: Arduino, type: GenericAnalyzer}
      system:
        analyzers:
          system_monitor: {find_and_remove_prefix: common/system_monitor, path: SystemMonitor,
            remove_prefix: common system_monitor, type: GenericAnalyzer}
        path: System
        type: AnalyzerGroup
    base_path: ''
    pub_rate: 1.0
control:
  back_steering_controller:
    back_steering_controller: true
    d_steering: 0.0
    default: {d_steering: 0.0, feed_forward_a: 0.4769, feed_forward_b: -1.0847, feed_forward_c: -0.0532,
      feed_forward_d: -0.0195, i_max: 0.5, i_min: -0.5, i_steering: 0.0, p_steering: 0.0,
      use_antiwindup: true}
    feed_forward_a: 0.4769
    feed_forward_b: -1.0847
    feed_forward_c: -0.0532
    feed_forward_d: -0.0195
    i_max: 0.5
    i_min: -0.5
    i_steering: 0.0
    p_steering: 0.0
    parking_mode: {d_steering: 0, i_steering: 6, p_steering: 1.3}
    start_activated: false
    use_antiwindup: true
  front_steering_controller:
    back_steering_controller: false
    d_steering: 0.0
    default: {d_steering: 0.0, feed_forward_a: 0.5051, feed_forward_b: 1.0781, feed_forward_c: -0.0836,
      feed_forward_d: 0.3574, i_max: 0.5, i_min: -0.5, i_steering: 0.0, p_steering: 0.0,
      use_antiwindup: true}
    feed_forward_a: 0.5051
    feed_forward_b: 1.0781
    feed_forward_c: -0.0836
    feed_forward_d: 0.3574
    i_max: 0.5
    i_min: -0.5
    i_steering: 0.0
    p_steering: 0.0
    parking_mode: {d_steering: 0, i_steering: 6, p_steering: 1.3}
    start_activated: false
    use_antiwindup: true
  lateral_controller:
    default: {dist_k: 1.973, epsilon_division_by_zero: 0.001, epsilon_newton_method: 0.01,
      k_ag: 0.02, lookahead_delta: 0.15569, min_lateral_control_speed: 0.04, reverse_driving_speed_threshold: -0.04}
    dist_k: 2.54374
    epsilon_division_by_zero: 0.001
    epsilon_newton_method: 0.01
    free_ride_mode: {dist_k: 2.54374}
    k_ag: 0.02
    lookahead_delta: 0.15569
    min_lateral_control_speed: 0.04
    parking_mode: {dist_k: 1.688, lookahead_delta: 0.173}
    reverse_driving_speed_threshold: -0.04
    start_activated: false
  longitudinal_controller:
    a_krit: 2.0
    acc: {constant_time_gap: 0.0, distance_time_constant: 0.0}
    angle_krit: 0.5235987755982988
    angle_krit_k: 2.0
    default:
      a_krit: 0
      acc: {constant_time_gap: 0, distance_time_constant: 0}
      angle_krit: 0.5235987755982988
      angle_krit_k: 2.0
      epsilon_newton_method: 0.01
      lookahead_cc_t: 0.15
      lookahead_deceleration: 0.4
      max_acc: 2.4
      max_dec: 8
      stepsize: 0.01
      stopping_controller: {lookahead_stop_t: 0.3, stopping_completion_threshold_speed: 0.02,
        stopping_deceleration: 2.0, stopping_radius: 0.04}
      v_extrapolation: 4.0
      v_max_cc: 0
      v_max_cc_reverse: 0.8
      v_min_abs: 0.16
      v_min_cc: 0
    epsilon_newton_method: 0.01
    free_ride_mode: {a_krit: 2.0, lookahead_deceleration: 0.4, max_acc: 5.0, v_max_cc: 3.2,
      v_min_cc: 0.4}
    lookahead_cc_t: 0.15
    lookahead_deceleration: 0.4
    max_acc: 5.0
    max_dec: 8.0
    obstacle_mode:
      a_krit: 3.0
      acc: {constant_time_gap: 1, distance_time_constant: 1}
      lookahead_deceleration: 0.4
      v_max_cc: 1.0
      v_min_cc: 0.4
    parking_mode: {a_krit: 1.042, lookahead_v: 0.5, v_max: 1.0, v_min: 0.6, v_min_abs: 0.04}
    start_activated: false
    stepsize: 0.01
    stopping_controller: {lookahead_stop_t: 0.3, stopping_completion_threshold_speed: 0.02,
      stopping_deceleration: 2.0, stopping_radius: 0.04}
    v_extrapolation: 4.0
    v_max_cc: 1.0
    v_max_cc_reverse: 0.8
    v_min_abs: 0.16
    v_min_cc: 0.4
  speed_controller:
    brake_output_scaling: 15.0
    braking_threshold: 0.2
    d_speed: 0.0
    dead_zone_activation_speed_set_point_threshold: 0.0
    dead_zone_size: 0.01
    default:
      brake_output_scaling: 2.0
      braking_threshold: 0.1
      d_speed: 0
      dead_zone_activation_speed_set_point_threshold: 0.0
      dead_zone_size: 0.01
      emergency_brake: {emergency_brake_value: 1.0}
      feed_forward_a: 0
      feed_forward_b: 0
      feed_forward_c: 0
      i_max: 1.8
      i_min: -1.8
      i_speed: 10.0
      max_engine_power: 10.0
      p_speed: 10.0
      use_antiwindup: true
      use_brake: false
    emergency_brake: {emergency_brake_value: 1.0}
    feed_forward_a: 0.0
    feed_forward_b: 0.0
    feed_forward_c: 0.0
    free_ride_mode: {brake_output_scaling: 15, braking_threshold: 0.2, i_max: 1.8,
      i_min: -1.8}
    i_max: 1.8
    i_min: -1.8
    i_speed: 10.0
    max_engine_power: 10.0
    p_speed: 10.0
    parking_mode: {i_speed: 3.0, p_speed: 1.3}
    start_activated: false
    use_antiwindup: true
    use_brake: false
controller_interface:
  controller_interface:
    arduino_boot_wait: 0
    baud_rate: 29491200
    default: {arduino_boot_wait: 0, baud_rate: 29491200, enable_runtime_analyzer: false,
      serial_buffer_size: 128, serial_port: /dev/ttyACM0, serial_read_timeout: 2000000,
      use_back_steering: true, write_to_shared_memory: true}
    enable_runtime_analyzer: false
    serial_buffer_size: 128
    serial_port: /dev/ttyACM0
    serial_read_timeout: 2000000
    start_activated: false
    write_to_shared_memory: true
default:
  camera: {focal_length_x: 427.434333, focal_length_y: 425.470033, optical_center_x: 643.684137,
    optical_center_y: 129.462045, r11: -0.00459979, r12: -0.999986, r13: -0.00277649,
    r21: -0.20928, r22: 0.00367769, r23: -0.977849, r31: 0.977845, r32: -0.00391684,
    r33: -0.209294, t1: 1.71978, t2: 257.274, t3: 46.6003}
  car_specs: {distance_cog_front: 0.12, distance_cog_rear: 0.125, distance_to_front_bumper: 0.3,
    distance_to_rear_bumper: 0.05, mass: 4.8, max_steering_angle_left: 0.416, max_steering_angle_right: 0.4,
    moment_of_inertia: 0.072, tire_radius: 0.0327, tire_stiffness_front: 0.0016, tire_stiffness_rear: 0.002,
    track: 0.1624, vehicle_width: 0.205, wheelbase: 0.245}
  tf_static:
    vehicle_to_ir_back: {pitch: 0, roll: 0, x: 0, y: -0.086, yaw: -1.570796327, z: 0.115}
    vehicle_to_ir_front: {pitch: 0, roll: 0, x: 0.183, y: -0.092, yaw: -1.570796327,
      z: 0.06}
mission_control:
  mission_controller:
    active_modules: [/monitoring/fitness_monitor, /perception/preprocessing, /perception/lane_detection,
      /control/longitudinal_controller, /control/lateral_controller, /navigation/path_preprocessing,
      /navigation/collision_detection, /navigation/path_planning, /state_estimation/state_estimation,
      /navigation/localization, /control/front_steering_controller, /control/back_steering_controller,
      /control/speed_controller, /mission_control/pavlov]
    all_modules: [/control/speed_controller, /control/front_steering_controller, /control/back_steering_controller,
      /controller_interface/controller_interface, /monitoring/system_monitor, /monitoring/fitness_monitor,
      /perception/preprocessing, /perception/road_watcher, /perception/lane_detection,
      /control/longitudinal_controller, /control/lateral_controller, /navigation/path_preprocessing,
      /navigation/path_planning, /perception/obstacle_tracking, /navigation/collision_detection,
      /navigation/road_closure_tracking, /navigation/blinker, /state_estimation/state_estimation,
      /navigation/localization, /perception/parkinglot_mapping, /navigation/parkinglot_aligner,
      /mission_control/pavlov]
    default:
      active_modules: [/state_estimation/state_estimation, /navigation/localization]
      all_modules: [/control/speed_controller, /control/front_steering_controller,
        /control/back_steering_controller, /controller_interface/controller_interface,
        /monitoring/system_monitor, /monitoring/fitness_monitor, /perception/preprocessing,
        /perception/road_watcher, /perception/lane_detection, /control/longitudinal_controller,
        /control/lateral_controller, /navigation/path_preprocessing, /navigation/path_planning,
        /perception/obstacle_tracking, /navigation/collision_detection, /navigation/road_closure_tracking,
        /navigation/blinker, /state_estimation/state_estimation, /navigation/localization,
        /perception/parkinglot_mapping, /navigation/parkinglot_aligner, /mission_control/pavlov]
      persistent_modules: [/monitoring/system_monitor, /controller_interface/controller_interface]
      service_call_timeout: 0.1
    free_ride_mode:
      active_modules: [/monitoring/fitness_monitor, /perception/preprocessing, /perception/lane_detection,
        /control/longitudinal_controller, /control/lateral_controller, /navigation/path_preprocessing,
        /navigation/collision_detection, /navigation/path_planning, /state_estimation/state_estimation,
        /navigation/localization, /control/front_steering_controller, /control/back_steering_controller,
        /control/speed_controller, /mission_control/pavlov]
    obstacle_mode:
      active_modules: [/monitoring/fitness_monitor, /perception/preprocessing, /perception/road_watcher,
        /perception/lane_detection, /control/longitudinal_controller, /control/lateral_controller,
        /navigation/path_preprocessing, /navigation/path_planning, /perception/obstacle_tracking,
        /navigation/collision_detection, /navigation/road_closure_tracking, /navigation/blinker,
        /state_estimation/state_estimation, /navigation/localization, /control/front_steering_controller,
        /control/back_steering_controller, /control/speed_controller, /mission_control/pavlov]
    parking_mode:
      active_modules: [/monitoring/fitness_monitor, /perception/preprocessing, /perception/lane_detection,
        /control/longitudinal_controller, /control/lateral_controller, /navigation/path_preprocessing,
        /navigation/path_planning, /navigation/collision_detection, /state_estimation/state_estimation,
        /navigation/localization, /navigation/parkinglot_aligner, /control/front_steering_controller,
        /control/back_steering_controller, /control/speed_controller, /perception/parkinglot_mapping]
    persistent_modules: [/monitoring/system_monitor, /controller_interface/controller_interface]
    service_call_timeout: 0.1
  pavlov:
    current_mode: 1.0
    default:
      current_mode: -1
      entity_tracking_timeout_in_s: 1.0
      junction_roi_center_max_x: 0.8
      junction_roi_center_max_y: 0.9
      junction_roi_center_min_x: 0
      junction_roi_center_min_y: -0.3
      junction_roi_right_max_x: 0.7
      junction_roi_right_max_y: -0.0
      junction_roi_right_min_x: 0.6
      junction_roi_right_min_y: -0.9
      look_at_region_add_height: 0.2
      look_at_region_add_width: 0.4
      rear_safety_margin_parking: 0.05
      reverse_out_of_parking_spot_distance: 3.2
      road_closure_roi: {max_x: 2.0, max_y: 1.0, min_x: -0.5, min_y: -0.5}
      safety_margin_crosswalk: 1.0
      safety_margin_junction: 0.4
      safety_margin_road_closure: 1.0
      turn_arrow_to_junction_distance_threshold: 0.5
      turn_left_passed_thres_x: 0.0
      turn_left_passed_thres_y: 0.7
      turn_right_passed_thres_x: 0.0
      turn_right_passed_thres_y: 0.3
    distance_to_front_bumper: 0.3
    distance_to_rear_bumper: 0.05
    entity_tracking_timeout_in_s: 1.0
    free_ride_mode: {current_mode: 1}
    junction_roi_center_max_x: 0.8
    junction_roi_center_max_y: 0.9
    junction_roi_center_min_x: 0.0
    junction_roi_center_min_y: -0.3
    junction_roi_right_max_x: 0.7
    junction_roi_right_max_y: -0.0
    junction_roi_right_min_x: 0.6
    junction_roi_right_min_y: -0.9
    look_at_region_add_height: 0.2
    look_at_region_add_width: 0.4
    obstacle_mode: {current_mode: 2}
    rear_safety_margin_parking: 0.05
    reverse_out_of_parking_spot_distance: 3.2
    road_closure_roi: {max_x: 2.0, max_y: 1.0, min_x: -0.5, min_y: -0.5}
    start_activated: false
    turn_arrow_to_junction_distance_threshold: 0.5
    turn_left_passed_thres_x: 0.0
    turn_left_passed_thres_y: 0.7
    turn_right_passed_thres_x: 0.0
    turn_right_passed_thres_y: 0.3
monitoring:
  fitness_monitor:
    default: {round_detection_time: 12, round_detection_type: 1}
    round_detection_time: 12.0
    round_detection_type: 1
navigation:
  blinker: {start_activated: false}
  collision_detection:
    avoid_obstacles: false
    block_distance_car_in_road_closure_area: 0.5
    block_left_lane: true
    default: {avoid_obstacles: false, block_distance_car_in_road_closure_area: 0.5,
      block_left_lane: true, gate_safety_margin: 0.0, large_shrink_distance_for_warnings: 1.0,
      left_lane_block_distance_behind_obstacle: 1.5, left_lane_block_distance_in_front_of_obstacle: 1.0,
      obstacle_safety_margin: 0.0, road_closure_safety_margin: 0.0, vehicle_safety_front_margin: 0.0,
      vehicle_safety_rear_margin: 0.15, vehicle_safety_width_margin: 0.03}
    distance_to_front_bumper: 0.3
    distance_to_rear_bumper: 0.05
    gate_safety_margin: 0.0
    large_shrink_distance_for_warnings: 1.0
    left_lane_block_distance_behind_obstacle: 1.5
    left_lane_block_distance_in_front_of_obstacle: 1.0
    obstacle_mode: {avoid_obstacles: true}
    obstacle_safety_margin: 0.0
    road_closure_safety_margin: 0.0
    start_activated: false
    vehicle_safety_front_margin: 0.0
    vehicle_safety_rear_margin: 0.15
    vehicle_safety_width_margin: 0.03
    vehicle_width: 0.205
  find_parking_slot: {max_ramp_y_diff: 0.02f, max_slot_size: 0.58, min_obstacle_len: 0.05f,
    min_slot_size: 0.5, path_offset: -0.5, start_ignore_distance: 0.5, v_max: 0.8}
  localization:
    default: {initial_x: 0, initial_y: 0, initial_yaw: 0, max_time_between_two_mesurements: 4}
    initial_x: 0.0
    initial_y: 0.0
    initial_yaw: 0.0
    max_time_between_two_mesurements: 4.0
    start_activated: false
  parking: {end_angle_offset: 0.0, max_speed: 0.3, max_steering_angle: 1, max_turn_radius_l: 0.565,
    max_turn_radius_r: 0.6225, wait_between_turns: 500}
  parkinglot_aligner:
    car_to_origin_distance: 1.0
    default: {car_to_origin_distance: 1.0}
    start_activated: false
  path_planning:
    default: {lsq_angle_weight: 1.5, lsq_center_value: 0.5, lsq_center_weight: 0.3,
      lsq_distance_weight: 7.0, lsq_endpoint_angle_weight: 1.5, lsq_prefered_point_weight: 0.0}
    free_ride_mode: {lsq_center_weight: 0.6}
    lsq_angle_weight: 1.5
    lsq_center_value: 0.5
    lsq_center_weight: 0.6
    lsq_distance_weight: 7.0
    lsq_endpoint_angle_weight: 1.5
    lsq_prefered_point_weight: 0.0
    obstacle_mode: {lsq_angle_weight: 150.0, lsq_center_weight: 5.0, lsq_distance_weight: 100.0,
      lsq_endpoint_angle_weight: 150.0, lsq_prefered_point_weight: 5.0}
    parking_mode: {lsq_center_value: 0.7}
    start_activated: false
  path_preprocessing:
    corridor_simplification_max_merge_distance: 0.025
    default: {corridor_simplification_max_merge_distance: 0.025, distance_of_turning_point_to_right_lane_marking: 0.21,
      enable_perpendicular_parking: false, enable_turning: false, initial_gate_distance: 0.03,
      lane_width: 0.42, max_lane_width: 0.49, min_lane_width: 0.35, path_polynomial_degree: 5,
      perpendicular_parking_angle: 1.5707963267948966, straight_on_distance_after_turning: 0.7,
      threshold_relative_error_1_5: 1.2, threshold_relative_error_3_5: 1.1, threshold_use_always_degree_1: 0.025,
      threshold_use_never_degree_5: 0.5, tracking_distance_behind: 1.0, tracking_distance_in_front: 0.3,
      tracking_distance_polynomial: 0.6, turning_angle: 1.5707963267948966, turning_angle_start_offset: 0.2,
      turning_angle_step_size: 0.05, use_adaptive_polynomial_degree: true, weight_middle_intersection: 10.0,
      weight_opposite_intersection: 1.0, weight_own_intersection: 100.0}
    distance_of_turning_point_to_right_lane_marking: 0.21
    enable_perpendicular_parking: true
    enable_turning: false
    free_ride_mode: {enable_perpendicular_parking: true}
    initial_gate_distance: 0.03
    lane_width: 0.42
    max_lane_width: 0.49
    min_lane_width: 0.35
    obstacle_mode: {enable_turning: true, path_offset: 0.2, tracking_distance: 0.75}
    parking_mode: {path_offset: 0.16}
    path_polynomial_degree: 5
    perpendicular_parking_angle: 1.5707963267948966
    start_activated: false
    straight_on_distance_after_turning: 0.7
    threshold_relative_error_1_5: 1.2
    threshold_relative_error_3_5: 1.1
    threshold_use_always_degree_1: 0.025
    threshold_use_never_degree_5: 0.5
    tracking_distance: 5.0
    tracking_distance_behind: 1.0
    tracking_distance_in_front: 0.3
    tracking_distance_polynomial: 0.6
    turning_angle: 1.5707963267948966
    turning_angle_start_offset: 0.2
    turning_angle_step_size: 0.05
    use_adaptive_polynomial_degree: true
    weight_middle_intersection: 10.0
    weight_opposite_intersection: 1.0
    weight_own_intersection: 100.0
  road_closure_tracking:
    default: {tracking_time_old_road_closure: 1.0}
    start_activated: false
    tracking_time_old_road_closure: 1.0
perception:
  camera: {auto_exposure: false, auto_frame_rate: false, auto_gain: true, auto_white_balance: false,
    binning: 1, blue_gain: 0, camera_id: 0, camera_name: camera, camera_topic: image_raw,
    color_mode: mono8, exposure: 3.9998596491228073, ext_trigger_mode: false, flash_delay: 0,
    flash_duration: 1000, flip_lr: true, flip_upd: true, frame_rate: 59.9934322979379,
    gain_boost: false, green_gain: 0, image_height: 650, image_left: 0, image_top: 0,
    image_width: 1280, master_gain: 0, output_rate: 0.0, pixel_clock: 86, red_gain: 0,
    sensor_scaling: 1.0, subsampling: 1, white_balance_blue_offset: 0, white_balance_red_offset: 0}
  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
  obstacle_tracking:
    blind_distance: 0.6
    default: {blind_distance: 0.6, lock_duration: 0.5, max_range_IR: 0.2, min_certainty_IR: 3,
      tracking_radius: 4.2, tracking_radius_IR: 0.8}
    lock_duration: 0.5
    max_range_IR: 0.2
    min_certainty_IR: 3
    start_activated: false
    tracking_radius: 4.2
    tracking_radius_IR: 0.8
  perpendicular_parking:
    candidate_line: {max_certainty_observation_time: 0.2, max_closing_angle: 2.4,
      max_opening_angle: 1.047, min_closing_angle: 2.05, min_distance_thld_x: 0.5,
      min_opening_angle: 0.785}
    dbscan: {core_epsilon: 0.2, min_points_to_be_core: 10}
    debug_mode: false
    default:
      candidate_line: {max_certainty_observation_time: 0.2, max_closing_angle: 2.4,
        max_opening_angle: 1.047, min_closing_angle: 2.05, min_distance_thld_x: 0.5,
        min_opening_angle: 0.785}
      dbscan: {core_epsilon: 0.2, min_points_to_be_core: 10}
      lane_tolerance: 0.1
      lane_width: 0.4
      marking_width: 0.02
      max_tf_lookup_duration: 0.1
      parking_end_classifier: {lateral_distance_spot_boundary: 0.05, left_lane_poly_step: 0.02,
        min_size_points: 6, required_certainity: 0.6, scan_line_length: 0.45, second_pca_thld: 0.04,
        shift_factor_left: 0.14, shift_factor_right: 0.1, skipping_distance: 0.4,
        step_detection_ref_func_size: 9, step_detection_threshold: 4}
      parking_lot: {gradient_detection_thld: 3, image_padding: 10, marking_scan_line_padding_back: 0.15,
        marking_scan_line_padding_front: 0.05, marking_scan_line_width: 0.08, marking_scan_step_width: 0.02,
        marking_update_shift_factor: 0.1, max_marking_update_distance: 0.8, max_spawn_distance: 1.8,
        n_min_markings: 3, n_scan_lines_per_spot: 19, newton_epsilon: 0.01, newton_max_iterations: 20,
        spot_scan_line_obstacle_safety_margin: 0.02, spot_scan_line_padding_x: 0.03,
        spot_scan_line_padding_y: 0.03, start_pose_max_allowed_deviation: 0.1, step_reference_function_length: 9}
      parking_spot: {epsilon_x_classifier: 0.2, free_min_depth_th: 0.3, points_to_skip_back: 2,
        points_to_skip_front: 3}
      parking_spot_depth: 0.5
      parking_spot_width: 0.35
      parking_start_classifier: {end_distance: 0.7, horizon: 2.0, max_angle_delta: 0.175,
        max_distance_end_of_points: 0.15, required_certainty: 1.0, second_pca_thld: 0.04}
      perpendicular_parking: {cluster_min_size: 6, cluster_size: 9, cutting_distance: 0.45,
        lane_points_distance: 0.05, lane_width: 0.43, left_lane_poly_step: 0.02, min_cluster_center_dist: 0.05,
        min_outlayer_dist: 0.03, min_size_lane_points: 4, polynomial_degree: 2, removal_distance_front: 0.2,
        scan_line_length: 0.3, step_detection_ref_func_size: 9, step_detection_threshold: 6}
    marking_width: 0.02
    max_tf_lookup_duration: 0.1
    parking_end_classifier: {lateral_distance_spot_boundary: 0.05, left_lane_poly_step: 0.02,
      min_size_points: 6, required_certainity: 0.6, scan_line_length: 0.45, second_pca_thld: 0.04,
      shift_factor_left: 0.14, shift_factor_right: 0.1, skipping_distance: 0.4, step_detection_ref_func_size: 9,
      step_detection_threshold: 4.0}
    parking_lot: {gradient_detection_thld: 3.0, image_padding: 10.0, marking_scan_line_padding_back: 0.15,
      marking_scan_line_padding_front: 0.05, marking_scan_line_width: 0.08, marking_scan_step_width: 0.02,
      marking_update_shift_factor: 0.1, max_marking_update_distance: 0.8, max_spawn_distance: 1.8,
      n_min_markings: 3, n_scan_lines_per_spot: 19, newton_epsilon: 0.01, newton_max_iterations: 20.0,
      spot_scan_line_obstacle_safety_margin: 0.02, spot_scan_line_padding_x: 0.03,
      spot_scan_line_padding_y: 0.03, start_pose_max_allowed_deviation: 0.1, step_reference_function_length: 9}
    parking_spot: {epsilon_x_classifier: 0.2, free_min_depth_th: 0.3, points_to_skip_back: 2,
      points_to_skip_front: 3}
    parking_spot_depth: 0.5
    parking_spot_width: 0.35
    parking_start_classifier: {end_distance: 0.7, horizon: 2.0, max_angle_delta: 0.175,
      max_distance_end_of_points: 0.15, required_certainty: 1.0, second_pca_thld: 0.04}
    perpendicular_parking: {cluster_min_size: 6, cluster_size: 9, cutting_distance: 0.45,
      lane_points_distance: 0.05, lane_width: 0.43, left_lane_poly_step: 0.02, min_cluster_center_dist: 0.05,
      min_outlayer_dist: 0.03, min_size_lane_points: 4, polynomial_degree: 2, removal_distance_front: 0.2,
      scan_line_length: 0.3, step_detection_ref_func_size: 9, step_detection_threshold: 6.0}
    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, destroy_counter_value: 60, 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_score_pedestrians: 0.2, 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, distance_factor: 1.0, max_distance: 1.0,
        min_center_distance_to_boundary: 0.05, min_score_th: 0.55, sampling_resolution: 0.001,
        shape_factor: 10.0, teach_in: false}
      crosswalk_classifier: {black_pixel: 0, bottom_line_row: 10, canny_mask_size: 3,
        canny_thresh_high: 100, canny_thresh_low: 75, destroy_counter_value: 60, 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_score_pedestrians: 0.2,
        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
      histogram_classifier:
        image: {bottom_offset: 0, lateral_offset: 2, top_offset: 2}
        line_touching_obstacle_localizer:
          clustering: {cluster_size_threshold: 4, 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}
          max_obstacle_distance: 2.0
          scan_lines: {reference_function_length: 11, step_size: 1, threshold: 7.5}
          top_of_boxes: {defect_ratio: 0.33, distance_to_end_point: 8.0, distance_to_line: 4.0,
            min_blob_area: 50}
        min_cluster_size: 300
        min_clusters: 2
      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_halt_line: 0.0, default_is_start_line: 0.95, default_is_stop_line: 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,
        halt_line_angle_fall_dist: 0.1, halt_line_angle_max: 0.3, halt_line_angle_min: -0.3,
        halt_line_mean0_fall_dist: 10, halt_line_mean0_max: 120, halt_line_mean0_min: 60,
        halt_line_mean1_fall_dist: 2.5, halt_line_mean1_max: 8.0, halt_line_mean1_min: 4.5,
        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, start_line_angle_fall_dist: 0.1,
        start_line_angle_max: 0.3, start_line_angle_min: -0.3, start_line_mean0_fall_dist: 50,
        start_line_mean0_max: 500, start_line_mean0_min: 350, start_line_mean1_fall_dist: 2.0,
        start_line_mean1_max: 7.4, start_line_mean1_min: 4.5, 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_angle_fall_dist: 0.1, stop_line_angle_max: 0.3, stop_line_angle_min: -0.3,
        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_mean0_fall_dist: 10, stop_line_mean0_max: 120,
        stop_line_mean0_min: 60, stop_line_mean1_fall_dist: 2.5, stop_line_mean1_max: 8.0,
        stop_line_mean1_min: 4.5, 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: 1.8
        discretization_step: 0.02
        general_horizon: 1.9
        histogram_classifier:
          image: {bottom_offset: 0, lateral_offset: 2, top_offset: 2}
          mean_factor: 0.8
          min_cluster_size: 50
          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: 11, step_size: 1, threshold: 7.5}
          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
        median_window: 13
        min_bv_scan_line_size: 20
        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: 13
        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
        delta_mser: 1
        divisor_max_size: 1.5
        divisor_min_size: 6.0
        guessed_lane_width: 0.4
        lateral_offset: 0.05
        line_iterator_connectivity: 8
        lower_hist_thresh: 40
        max_dist_inner_line: 0.04
        mean_offset_binarization: 8
        min_points_to_be_core: 5
        mser_roi_frame: 20
        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_x_low: 18
        bv_proj_point_far_y_low: 6
        canny_area: 8
        factor_scanlines_horizontal: 10
        feature_points_thresh: 15.0
        feature_points_thresh_bounding_box: 8.0
        guessed_farest_v_factor: 0.2
        guessed_lane_width: 0.5
        histogram_classifier:
          image: {bottom_offset: 0, lateral_offset: 2, top_offset: 2}
          line_touching_obstacle_localizer:
            birdsview_path_cropping: 20
            clustering: {cluster_size_threshold: 4, 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}
            max_obstacle_distance: 2.0
            scan_lines: {reference_function_length: 11, step_size: 1, threshold: 7.5}
            top_of_boxes: {defect_ratio: 0.33, distance_to_end_point: 8.0, distance_to_line: 4.0,
              min_blob_area: 50}
          mean_factor: 0.8
          min_cluster_size: 50
          min_clusters: 2
        min_size_dop: 4
        min_size_per_lane: 5
        nr_scanlines: 4
        offset_loc_scanlines: 10
        offset_middle_lane: 5
        points_ref_func: 5
        points_ref_func_bounding_box: 3
        points_ref_func_classification_points: 5
        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
    histogram_classifier:
      image: {bottom_offset: 0, lateral_offset: 2, top_offset: 2}
      line_touching_obstacle_localizer:
        clustering: {cluster_size_threshold: 4, 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}
        max_obstacle_distance: 2.0
        scan_lines: {reference_function_length: 11, step_size: 1, threshold: 7.5}
        top_of_boxes: {defect_ratio: 0.33, distance_to_end_point: 8.0, distance_to_line: 4.0,
          min_blob_area: 50}
      min_cluster_size: 300
      min_clusters: 2
    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_halt_line: 0.0,
      default_is_start_line: 0.95, default_is_stop_line: 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, halt_line_angle_fall_dist: 0.1,
      halt_line_angle_max: 0.3, halt_line_angle_min: -0.3, halt_line_mean0_fall_dist: 10.0,
      halt_line_mean0_max: 120.0, halt_line_mean0_min: 60.0, halt_line_mean1_fall_dist: 2.5,
      halt_line_mean1_max: 8.0, halt_line_mean1_min: 4.5, 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, start_line_angle_fall_dist: 0.1, start_line_angle_max: 0.3,
      start_line_angle_min: -0.3, start_line_mean0_fall_dist: 50.0, start_line_mean0_max: 500.0,
      start_line_mean0_min: 350.0, start_line_mean1_fall_dist: 2.0, start_line_mean1_max: 7.4,
      start_line_mean1_min: 4.5, 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_angle_fall_dist: 0.1, stop_line_angle_max: 0.3,
      stop_line_angle_min: -0.3, 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_mean0_fall_dist: 10.0, stop_line_mean0_max: 120.0, stop_line_mean0_min: 60.0,
      stop_line_mean1_fall_dist: 2.5, stop_line_mean1_max: 8.0, stop_line_mean1_min: 4.5,
      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: 1.8
      discretization_step: 0.02
      general_horizon: 1.9
      histogram_classifier:
        image: {bottom_offset: 0, lateral_offset: 2, top_offset: 2}
        mean_factor: 0.8
        min_cluster_size: 50
        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: 11, step_size: 1, threshold: 7.5}
        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
      median_window: 13
      min_bv_scan_line_size: 20
      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: 13
      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
      delta_mser: 1
      divisor_max_size: 1.5
      divisor_min_size: 6.0
      guessed_lane_width: 0.4
      lateral_offset: 0.05
      line_iterator_connectivity: 8
      lower_hist_thresh: 40
      max_dist_inner_line: 0.04
      mean_offset_binarization: 8
      min_points_to_be_core: 5
      mser_roi_frame: 20
      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_x_low: 18
      bv_proj_point_far_y_low: 6
      canny_area: 8
      factor_scanlines_horizontal: 10
      feature_points_thresh: 15.0
      feature_points_thresh_bounding_box: 8.0
      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: 50
        min_clusters: 2
      min_size_dop: 4
      min_size_per_lane: 5
      nr_scanlines: 4
      offset_loc_scanlines: 10
      offset_middle_lane: 5
      points_ref_func: 5
      points_ref_func_bounding_box: 3
      points_ref_func_classification_points: 5
      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
    threshold1: 500.0
    threshold2: 900.0
    trim_factor: 0.2
    unidentified_score_threshold: 0.2
rosdistro: 'kinetic

  '
roslaunch:
  uris: {host_andi_lenovo_g50_70__33448: 'http://andi-Lenovo-G50-70:33448/', host_andi_lenovo_g50_70__42124: 'http://andi-Lenovo-G50-70:42124/',
    host_andi_lenovo_g50_70__46403: 'http://andi-Lenovo-G50-70:46403/', host_kitcarnuc__38742: 'http://kitcarnuc:38742/',
    host_kitcarnuc__44818: 'http://kitcarnuc:44818/'}
rosversion: '1.12.12

  '
run_id: 63f0e994-db90-11e7-b4a6-78929cf7eced
state_estimation:
  state_estimation:
    debug_measurement_rate: 120
    debug_mode: false
    default: {enable_runtime_analyzer: false, kalman_gain_convergence_distance_threshold: 1.0e-09,
      max_acceleration: 40.0, max_acceleration_measure: 400, max_speed: 10.0, max_steering_anle_measure: 1.4,
      max_wheel_speed_measure: 500, max_yaw_rate: 10.0, max_yaw_rate_measure: 40,
      measurement_noise_acceleration: 27, measurement_noise_angular_speed_left: 1.0186,
      measurement_noise_angular_speed_right: 1.0186, measurement_noise_yaw_rate: 0.0001,
      min_absolute_speed_for_steering_angle_calculation: 0.01, system_noise_acceleration: 0.025,
      system_noise_speed: 1.0e-06, system_noise_yaw_rate: 0.4}
    enable_runtime_analyzer: false
    integration_test_mode: false
    kalman_gain_convergence_distance_threshold: 1.0e-09
    max_acceleration: 40.0
    max_acceleration_measure: 400.0
    max_speed: 10.0
    max_steering_anle_measure: 1.4
    max_wheel_speed_measure: 500.0
    max_yaw_rate: 10.0
    max_yaw_rate_measure: 40.0
    measurement_noise_acceleration: 27.0
    measurement_noise_angular_speed_left: 1.0186
    measurement_noise_angular_speed_right: 1.0186
    measurement_noise_yaw_rate: 0.0001
    min_absolute_speed_for_steering_angle_calculation: 0.01
    start_activated: false
    system_noise_acceleration: 0.025
    system_noise_speed: 1.0e-06
    system_noise_yaw_rate: 0.4
use_sim_time: true
vehicle_to_front_axle_broadcaster: {child_frame_id: front_axle, frame_id: vehicle,
  period: 100.0, pitch: 0.0, roll: 0.0, y: 0.0, yaw: 0.0, z: 0.0}
vehicle_to_ir_back_broadcaster: {child_frame_id: ir_back, frame_id: vehicle, period: 100.0}
vehicle_to_ir_front_broadcaster: {child_frame_id: ir_front, frame_id: vehicle, period: 100.0}
