Tune line detection (#649)

Author: YukumoHunter

deploy/config/line_detection.toml

@@ -6,21 +6,21 @@ model_iters = 100
 # residual threshold for RANSAC inliers in meters
 ransac_inlier_threshold = 0.025
 # maximum distance of a valid line spot from the camera in meters
-spot_max_distance = 4.0
+spot_max_distance = 4.5
 # minimum number of points in a valid line segment
 line_segment_min_points = 8
 # minimum length of a line segment after merging in meters
-line_segment_min_length = 0.35
+line_segment_min_length = 0.25
 # maximum length of a line segment after merging in meters
 line_segment_max_length = 5.0
 # maximum distance between two inliers of a line segment in meters
-max_line_gap_distance = 0.25
+max_line_gap_distance = 0.2
 # number of samples for the white test
 white_test_samples = 20
 # sampling distance for the white test in meters
 white_test_sample_distance = 0.04
 # ratio of white tests that need to pass for a line to be accepted
-white_test_merge_ratio = 0.8
+white_test_merge_ratio = 0.9
 # number of samples for the white test
 merge_test_samples = 10
 # sampling distance for the merge test in meters