class:
- color: [128,64,128]
  ignore: false
  label: 0
  name: road
- color: [70,70,70]
  ignore: false
  label: 1
  name: background
- color: [153,153,190]
  ignore: false
  label: 2
  name: fence
- color: [153,153,153]
  ignore: false
  label: 3
  name: pole
- color: [30,170,250]
  ignore: false
  label: 4
  name: traffic
- color: [60,20,220]
  ignore: false
  label: 5
  name: person
- color: [142,0,0]
  ignore: false
  label: 6
  name: vehicle
- color: [70,0,0]
  ignore: false
  label: 7
  name: two-wheel
- color: [200,200,200]
  ignore: false
  label: 8
  name: lane_marking
- color: [0,192,64]
  ignore: false
  label: 9
  name: crosswalk
- color: [192,0,128]
  ignore: false
  label: 10
  name: traffic_arrow
- color: [128,200,200]
  ignore: false
  label: 11
  name: sign_line
- color: [192,192,0]
  ignore: false
  label: 12
  name: guide_line
- color: [64,64,0]
  ignore: false
  label: 13
  name: cone
- color: [0,0,255]
  ignore: false
  label: 14
  name: stop_line
- color: [0,220,220]
  ignore: false
  label: 15
  name: speed_bump

freespace:
- freespace_id: [0,8,9,10,11,12,14,15]
  margin: [5,10]
  thredshold: [0.5,0.7]