tracker_parameters.h File Reference

Detailed Description

The file that unites all (implementation and algorithm) parameters of the tracker at the same place.

Author:
Kai Arras, AIS, Albert-Ludwigs-University of Freiburg, Germany
Version:
1.000
Date:
Sept-Oct 2006, last modification 20.10.06

Go to the source code of this file.

Variables

const int MAX_N_SCAN_POINTS = 181
 Maximal number of scan points for laserscan class.
const int LISTEN_FREQ = 10
 Frequency for the ipc_listen(.) call.
const int SCAN_FREQ = 8
 Take only each SCAN_FREQth scan received by IPC.
const double RESO = 0.1
 Grid resolution in [m].
const double X_ORIGIN = 5.0
 X-coord. in [m] of grid origin given in (i,j)-frame.
const double Y_ORIGIN = RESO
 Y-coord. in [m] of grid origin given in (i,j)-frame.
const double SIZE_X = 10.0
 Grid x-size in [m].
const double SIZE_Y = 5.0+RESO
 Grid y-size in [m].
const double MAX_TRACKER_RANGE = 7.0
 Max working range of tracker in [m].
const int MAX_N_CONTR_POINTS = MAX_N_SCAN_POINTS
 Max n contributing points a feature can have.
const int N_FEATURE_TYPES = 2
 Number of feature types.
const int FEAT_ID_MOTION = 1
 Type if of motion features.
const int FEAT_ID_SHAPE = 2
 Type id of shape features.
const int FEAT_ID_OR = N_FEATURE_TYPES + 1
 Type id for points supported by at least one feature type.
const int FEAT_ID_AND = N_FEATURE_TYPES + 2
 Type id for points supported by all feature types.
const double MOTION_THRESHOLD = 0.02
 Threshold on distance change.
const double JUMP_THRESHOLD = 0.3
 Distance jump threshold that defines a convex shape.
const double SHAPE_MIN_WIDTH = 0.05
 Minimal width for a shape feature to be accepted.
const double SHAPE_MAX_WIDTH = 0.5
 Maximal width for a shape feature to be accepted.
const int MIN_N_FEAT_POINTS = 6
 Minimal numer of points a feature must be supported by.
const double SXXR = (0.05)*(0.05)
 Matrix R: variance in x.
const double SYYR = (0.05)*(0.05)
 Matrix R: variance in y.
const int STATE_DIM = 4
 Dimension of the track state vector.
const int OBS_DIM = 2
 Dimension of the observations.
const int MAX_HIST_DEPTH = 100
 Track history buffer length.
const double MATRIX_LN_EPS = -1e8
 Epsilon threshold for the gsl LU_lndet matrix inversion method.
const double SXX = (0.02)*(0.02)
 Matrix Q: variance in x.
const double SYY = (0.02)*(0.02)
 Matrix Q: variance in y.
const double SVX = (0.4)*(0.4)
 Matrix Q: variance in vx (velocity in x-direction).
const double SVY = (0.4)*(0.4)
 Matrix Q: variance in vy (velocity in y-direction).
const double SXX0 = (0.05)*(0.05)
 Initialization variance in x for new tracks.
const double SYY0 = (0.05)*(0.05)
 Initialization variance in y for new tracks.
const double SVX0 = (0.01)*(0.01)
 Initialization variance in vx for new tracks.
const double SVY0 = (0.01)*(0.01)
 Initialization variance in vy for new tracks.
const int MAX_N_MISSES = 30
 Maximal number of consecutive misses. Heuristics for track deletion.
const double ALPHA = 0.95
 Significance level for data association.
const double CHI2INV_2_95 = 5.991464
 Inverse of the chi2-cdf with 2 dofs at 0.95.
const double CHI2INV_2_99 = 9.210340
 Inverse of the chi2-cdf with 2 dofs at 0.99.
const int MAX_N_TCOLS = 13
 Number of track gnuplot colors.
const double TCOL [MAX_N_TCOLS][4]
 Gnuplot colors for tracks in syntax: colormap_index r g b.
const double FCOL [2 *N_FEATURE_TYPES][4]
 Gnuplot colors for differnet feature cues, same syntax.
const double HCOL [2][4]
 Gnuplot colors for track history, same syntax.
const double MAX_PLOT_RANGE = 5.0
 Maximal plot range for the gnuplot window.

Variable Documentation

const double TCOL[MAX_N_TCOLS][4]
 

Initial value:

 {    
{ 0, 1.0, 0.2, 0.0},
{ 8, 0.0, 1.0, 0.2},
{16, 0.0, 0.2, 1.0},
{24, 1.0, 0.0, 0.8},
{32, 0.0, 0.8, 1.0},
{40, 1.0, 0.8, 0.0},
{48, 0.8, 0.0, 0.8},
{56, 0.0, 0.4, 0.2},
{64, 0.8, 0.8, 0.0},
{72, 0.4, 0.3, 0.8},
{80, 0.4, 1.0, 0.4},
{88, 0.8, 0.2, 0.4},
{96, 0.8, 1.0, 0.0}}
Gnuplot colors for tracks in syntax: colormap_index r g b.

const double FCOL[2 *N_FEATURE_TYPES][4]
 

Initial value:

 {
{104, 0.2, 0.8, 0.0},
{111, 0.2, 0.8, 0.8},
{112, 0.0, 0.1, 0.9},
{119, 0.8, 0.1, 0.9}}
Gnuplot colors for differnet feature cues, same syntax.

const double HCOL[2][4]
 

Initial value:

 {
{120, 0.9, 0.9, 0.9},
{128, 0.0, 0.0, 0.0}}
Gnuplot colors for track history, same syntax.

Generated on Mon Oct 23 14:09:18 2006 for Tracky by  doxygen 1.4.6