watonomous.github.io

[ Software Division : Constants ]

Created by [ Rowan Dempster] on Dec 28, 2019

contains information about constants used within the Processing codebase.
will help [\@VinayakSharma]{.phui-tag-core .phui-tag-color-person style=”color: inherit;”} start dynamic-reconfigure

HLDF constant is higher priority than Object Tracking's

HLDF

Only the THRESHOLD constant needs dynamic reconfigure. https://git.uwaterloo.ca/WATonomous/prediction/blob/high-level-fusion-develop/high_level_fusion/depth_association.cpp#L4

This is something we play around with at the test track. It is used for determining an acceptable IoU value for Lidar and camera bounding box data.
It ranges between 0 and 1.

Constant Default Value Min Max ———– ————— —– —– THRESHOLD 0.1 0 1

Object Tracking

Constants for object tracking are in this h file: https://git.uwaterloo.ca/WATonomous/prediction/blob/master/utils/phys_params.h

However, only the last [4 constants need dynamic reconfiguring]{.inline-comment-marker data-ref=”928e52a2-3e53-4af3-9a86-03c5e37cc886”} (at least for now). If all of them could get dynamic reconfiguring that would be amazing, but it's not urgent.

Constant Default Value Min Max ———————————————- ————— —– —– flashing_light_duration_cycle 1.818 0.5 3 flashing_light_duration_to_go_back 3.636 1 5 filter_light_state_duration_to_go_back 0.4 0.1 2 flashing_light_threshold 0.4999 0 1

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