Mercurial Hosting > traffic-intelligence

annotate tracking.cfg @ 685:94b291a5f933 dev

Find changesets by keywords (author, files, the commit message), revision number or hash, or revset expression.
several updates for display
author Nicolas Saunier <nicolas.saunier@polymtl.ca>
date Fri, 05 Jun 2015 17:13:28 +0200
parents da1352b89d02
children 56153d439f8c
Ignore whitespace changes - Everywhere: Within whitespace: At end of lines:
rev   line source
137
445e773c9be3 created the parameter structure to parse parameters (bug remaining)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 118
diff changeset
1 # filename of the video to process
319
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 228
diff changeset
2 video-filename = laurier.avi
137
445e773c9be3 created the parameter structure to parse parameters (bug remaining)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 118
diff changeset
3 # filename of the database where results are saved
319
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 228
diff changeset
4 database-filename = laurier.sqlite
137
445e773c9be3 created the parameter structure to parse parameters (bug remaining)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 118
diff changeset
5 # filename of the homography matrix
319
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 228
diff changeset
6 homography-filename = laurier-homography.txt
625
9202628a4130 saving image when playing video
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 589
diff changeset
7 # filename of the camera intrinsic matrix
506
13d4eb96a751 added needed parameters
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 483
diff changeset
8 intrinsic-camera-filename = intrinsic-camera.txt
13d4eb96a751 added needed parameters
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 483
diff changeset
9 # -0.11759321 0.0148536 0.00030756 -0.00020578 -0.00091816
13d4eb96a751 added needed parameters
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 483
diff changeset
10 distortion-coefficients = -0.11759321
13d4eb96a751 added needed parameters
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 483
diff changeset
11 distortion-coefficients = 0.0148536
13d4eb96a751 added needed parameters
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 483
diff changeset
12 distortion-coefficients = 0.00030756
13d4eb96a751 added needed parameters
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 483
diff changeset
13 distortion-coefficients = -0.00020578
13d4eb96a751 added needed parameters
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 483
diff changeset
14 distortion-coefficients = -0.00091816
13d4eb96a751 added needed parameters
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 483
diff changeset
15 # undistorted image multiplication
13d4eb96a751 added needed parameters
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 483
diff changeset
16 undistorted-size-multiplication = 1.31
509
935430b1d408 corrected mask bug in feature tracking, updated display-trajectories to display on undistorted image
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 508
diff changeset
17 # Interpolation method for remapping image when correcting for distortion: 0 for INTER_NEAREST - a nearest-neighbor interpolation; 1 for INTER_LINEAR - a bilinear interpolation (used by default); 2 for INTER_CUBIC - a bicubic interpolation over 4x4 pixel neighborhood; 3 for INTER_LANCZOS4
935430b1d408 corrected mask bug in feature tracking, updated display-trajectories to display on undistorted image
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 508
diff changeset
18 interpolation-method = 1
137
445e773c9be3 created the parameter structure to parse parameters (bug remaining)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 118
diff changeset
19 # filename of the mask image (where features are detected)
319
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 228
diff changeset
20 mask-filename = none
508
6f7fa0093162 adding parameter undistort in tracking.cfg
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 507
diff changeset
21 # undistort the video for feature tracking
535
5ad2f51ae42f cleaning up initialization of intrinsic matrix
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 509
diff changeset
22 undistort = false
137
445e773c9be3 created the parameter structure to parse parameters (bug remaining)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 118
diff changeset
23 # load features from database
445e773c9be3 created the parameter structure to parse parameters (bug remaining)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 118
diff changeset
24 load-features = false
445e773c9be3 created the parameter structure to parse parameters (bug remaining)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 118
diff changeset
25 # display trajectories on the video
445e773c9be3 created the parameter structure to parse parameters (bug remaining)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 118
diff changeset
26 display = false
348
c64a4f889b97 added safety analysis options to feature tracking (with default values for backward compatibility)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 319
diff changeset
27 # original video frame rate (number of frames/s)
118
b3e3d9f80a6a added configuration file and parameter structure
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
diff changeset
28 video-fps = 29.97
137
445e773c9be3 created the parameter structure to parse parameters (bug remaining)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 118
diff changeset
29 # number of digits of precision for all measurements derived from video
445e773c9be3 created the parameter structure to parse parameters (bug remaining)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 118
diff changeset
30 # measurement-precision = 3
445e773c9be3 created the parameter structure to parse parameters (bug remaining)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 118
diff changeset
31 # first frame to process
118
b3e3d9f80a6a added configuration file and parameter structure
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
diff changeset
32 frame1 = 0
228
23da16442433 minor modifications for unsigned int (nframes is now 0 to process all frames)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 141
diff changeset
33 # number of frame to process: 0 means processing all frames
23da16442433 minor modifications for unsigned int (nframes is now 0 to process all frames)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 141
diff changeset
34 nframes = 0
118
b3e3d9f80a6a added configuration file and parameter structure
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
diff changeset
35 # feature tracking
137
445e773c9be3 created the parameter structure to parse parameters (bug remaining)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 118
diff changeset
36 # maximum number of features added at each frame
118
b3e3d9f80a6a added configuration file and parameter structure
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
diff changeset
37 max-nfeatures = 1000
137
445e773c9be3 created the parameter structure to parse parameters (bug remaining)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 118
diff changeset
38 # quality level of the good features to track
118
b3e3d9f80a6a added configuration file and parameter structure
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
diff changeset
39 feature-quality = 0.1
634
b61b309cb9da added units to paramters
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 625
diff changeset
40 # minimum distance between features (px)
137
445e773c9be3 created the parameter structure to parse parameters (bug remaining)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 118
diff changeset
41 min-feature-distanceklt = 5
634
b61b309cb9da added units to paramters
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 625
diff changeset
42 # size of the block for feature characteristics (px)
495
82c06ad62254 added parameter description with ranges
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 483
diff changeset
43 block-size = 7
137
445e773c9be3 created the parameter structure to parse parameters (bug remaining)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 118
diff changeset
44 # use of Harris corner detector
445e773c9be3 created the parameter structure to parse parameters (bug remaining)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 118
diff changeset
45 use-harris-detector = false
445e773c9be3 created the parameter structure to parse parameters (bug remaining)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 118
diff changeset
46 # k parameter to detect good features to track (OpenCV)
445e773c9be3 created the parameter structure to parse parameters (bug remaining)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 118
diff changeset
47 k = 0.4
634
b61b309cb9da added units to paramters
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 625
diff changeset
48 # size of the search window at each pyramid level (px)
495
82c06ad62254 added parameter description with ranges
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 483
diff changeset
49 window-size = 7
137
445e773c9be3 created the parameter structure to parse parameters (bug remaining)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 118
diff changeset
50 # maximal pyramid level in the feature tracking algorithm
118
b3e3d9f80a6a added configuration file and parameter structure
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
diff changeset
51 pyramid-level = 5
137
445e773c9be3 created the parameter structure to parse parameters (bug remaining)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 118
diff changeset
52 # number of displacement to test minimum feature motion
445e773c9be3 created the parameter structure to parse parameters (bug remaining)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 118
diff changeset
53 ndisplacements = 3
634
b61b309cb9da added units to paramters
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 625
diff changeset
54 # minimum displacement to keep features (px)
118
b3e3d9f80a6a added configuration file and parameter structure
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
diff changeset
55 min-feature-displacement = 0.05
137
445e773c9be3 created the parameter structure to parse parameters (bug remaining)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 118
diff changeset
56 # maximum feature acceleration
118
b3e3d9f80a6a added configuration file and parameter structure
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
diff changeset
57 acceleration-bound = 3
137
445e773c9be3 created the parameter structure to parse parameters (bug remaining)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 118
diff changeset
58 # maximum feature deviation
118
b3e3d9f80a6a added configuration file and parameter structure
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
diff changeset
59 deviation-bound = 0.6
137
445e773c9be3 created the parameter structure to parse parameters (bug remaining)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 118
diff changeset
60 # number of frames to smooth positions (half window)
141
6f10a227486c modifications to get nframes option working on the command line
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 139
diff changeset
61 smoothing-halfwidth = 5
137
445e773c9be3 created the parameter structure to parse parameters (bug remaining)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 118
diff changeset
62 # number of frames to compute velocities
445e773c9be3 created the parameter structure to parse parameters (bug remaining)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 118
diff changeset
63 #nframes-velocity = 5
445e773c9be3 created the parameter structure to parse parameters (bug remaining)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 118
diff changeset
64 # maximum number of iterations to stop feature tracking
589
5800a87f11ae corrected one bug and changed attribute names
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 537
diff changeset
65 max-number-iterations = 20
137
445e773c9be3 created the parameter structure to parse parameters (bug remaining)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 118
diff changeset
66 # minimum error to reach to stop feature tracking
589
5800a87f11ae corrected one bug and changed attribute names
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 537
diff changeset
67 min-tracking-error = 0.3
418
ca5784652d57 updated use of calcOpticalFlowPyrLK for new signature, added minEigThreshold parameter in configuration file
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 352
diff changeset
68 # minimum eigen value of a 2x2 normal matrix of optical flow equations
ca5784652d57 updated use of calcOpticalFlowPyrLK for new signature, added minEigThreshold parameter in configuration file
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 352
diff changeset
69 min-feature-eig-threshold = 1e-4
137
445e773c9be3 created the parameter structure to parse parameters (bug remaining)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 118
diff changeset
70 # minimum length of a feature (number of frames) to consider a feature for grouping
118
b3e3d9f80a6a added configuration file and parameter structure
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
diff changeset
71 min-feature-time = 20
b3e3d9f80a6a added configuration file and parameter structure
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
diff changeset
72 # Min Max similarity parameters (Beymer et al. method)
634
b61b309cb9da added units to paramters
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 625
diff changeset
73 # connection distance in feature grouping (world distance unit or px)
118
b3e3d9f80a6a added configuration file and parameter structure
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
diff changeset
74 mm-connection-distance = 3.75
634
b61b309cb9da added units to paramters
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 625
diff changeset
75 # segmentation distance in feature grouping (world distance unit or px)
118
b3e3d9f80a6a added configuration file and parameter structure
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
diff changeset
76 mm-segmentation-distance = 1.5
634
b61b309cb9da added units to paramters
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 625
diff changeset
77 # maximum distance between features for grouping (world distance unit or px)
118
b3e3d9f80a6a added configuration file and parameter structure
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
diff changeset
78 max-distance = 5
137
445e773c9be3 created the parameter structure to parse parameters (bug remaining)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 118
diff changeset
79 # minimum cosine of the angle between the velocity vectors for grouping
118
b3e3d9f80a6a added configuration file and parameter structure
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
diff changeset
80 min-velocity-cosine = 0.8
137
445e773c9be3 created the parameter structure to parse parameters (bug remaining)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 118
diff changeset
81 # minimum average number of features per frame to create a vehicle hypothesis
118
b3e3d9f80a6a added configuration file and parameter structure
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
diff changeset
82 min-nfeatures-group = 3
535
5ad2f51ae42f cleaning up initialization of intrinsic matrix
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 509
diff changeset
83 # Road user classification
685
94b291a5f933 several updates for display
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 680
diff changeset
84 # min number of pixels in cropped image to classify by SVM
94b291a5f933 several updates for display
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 680
diff changeset
85 min-npixels-crop = 400
680
da1352b89d02 classification is working
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 634
diff changeset
86 # method to aggregate road user speed
685
94b291a5f933 several updates for display
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 680
diff changeset
87 speed-aggregation-method = median
680
da1352b89d02 classification is working
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 634
diff changeset
88 # number of frames to ignore at both ends of a series (noisy)
da1352b89d02 classification is working
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 634
diff changeset
89 nframes-ignore-at-ends = 2
da1352b89d02 classification is working
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 634
diff changeset
90 # quantile for the speed aggregation, if quantile is chosen
da1352b89d02 classification is working
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 634
diff changeset
91 speed-aggregation-quantile = 50
da1352b89d02 classification is working
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 634
diff changeset
92 # speed value below which all classes are equiprobable (distributions give odd values there) (km/h)
da1352b89d02 classification is working
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 634
diff changeset
93 min-speed-equiprobable = 3.33
685
94b291a5f933 several updates for display
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 680
diff changeset
94 # filename of the general ped/cyc/veh SVM classifier
94b291a5f933 several updates for display
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 680
diff changeset
95 pbv-svm-filename = modelPBV.xml
94b291a5f933 several updates for display
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 680
diff changeset
96 # filename of the cyc/veh SVM classifier
94b291a5f933 several updates for display
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 680
diff changeset
97 bv-svm-filename = modelBV.xml
680
da1352b89d02 classification is working
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 634
diff changeset
98 # maximum pedestrian speed (agregate: mean, median, 85th centile, etc.) 10 km/h
da1352b89d02 classification is working
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 634
diff changeset
99 max-ped-speed = 10.0
da1352b89d02 classification is working
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 634
diff changeset
100 # maximum cyclist speed (agregate: mean, median, 85th centile, etc.) 30 km/h (3xped)
da1352b89d02 classification is working
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 634
diff changeset
101 max-cyc-speed = 30.0
da1352b89d02 classification is working
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 634
diff changeset
102 # mean pedestrian speed and standard deviation (in a normal distribution) 4.91+-0.88 km/h
da1352b89d02 classification is working
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 634
diff changeset
103 mean-ped-speed = 4.91
da1352b89d02 classification is working
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 634
diff changeset
104 std-ped-speed = 0.88
da1352b89d02 classification is working
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 634
diff changeset
105 # mean cyclist speed and standard deviation (in a log-normal distribution) 11.+-4.83 km/h
da1352b89d02 classification is working
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 634
diff changeset
106 cyc-speed-loc = 2.31
da1352b89d02 classification is working
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 634
diff changeset
107 cyc-speed-scale = 0.42
da1352b89d02 classification is working
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 634
diff changeset
108 # mean vehicle speed and standard deviation (in a normal distribution) 18.45+-7.6 km/h
da1352b89d02 classification is working
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 634
diff changeset
109 mean-veh-speed = 18.45
da1352b89d02 classification is working
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 634
diff changeset
110 std-veh-speed = 7.6
348
c64a4f889b97 added safety analysis options to feature tracking (with default values for backward compatibility)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 319
diff changeset
111 # Safety analysis
c64a4f889b97 added safety analysis options to feature tracking (with default values for backward compatibility)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 319
diff changeset
112 # maximum speed when predicting future motion (km/h)
c64a4f889b97 added safety analysis options to feature tracking (with default values for backward compatibility)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 319
diff changeset
113 max-predicted-speed = 50
c64a4f889b97 added safety analysis options to feature tracking (with default values for backward compatibility)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 319
diff changeset
114 # time horizon for collision prediction (s)
c64a4f889b97 added safety analysis options to feature tracking (with default values for backward compatibility)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 319
diff changeset
115 prediction-time-horizon = 5
c64a4f889b97 added safety analysis options to feature tracking (with default values for backward compatibility)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 319
diff changeset
116 # collision distance threshold (m)
c64a4f889b97 added safety analysis options to feature tracking (with default values for backward compatibility)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 319
diff changeset
117 collision-distance = 1.8
c64a4f889b97 added safety analysis options to feature tracking (with default values for backward compatibility)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 319
diff changeset
118 # option to compute crossing zones and predicted PET
349
e3f910c26fae added other safety analysis parameters
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 348
diff changeset
119 crossing-zones = false
352
72aa44072093 safety analysis script with option for prediction method
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 351
diff changeset
120 # prediction method: cv, na, ps
72aa44072093 safety analysis script with option for prediction method
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 351
diff changeset
121 prediction-method = na
349
e3f910c26fae added other safety analysis parameters
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 348
diff changeset
122 # number of predicted trajectories (use depends on prediction method)
e3f910c26fae added other safety analysis parameters
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 348
diff changeset
123 npredicted-trajectories = 10
483
30b3455978d9 Corrected issues with safety-analysis script, variable names are changed and tracking.cfg accordingly
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 418
diff changeset
124 # maximum acceleration for normal adaptation input symmetric distribution (m/s2)
30b3455978d9 Corrected issues with safety-analysis script, variable names are changed and tracking.cfg accordingly
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 418
diff changeset
125 max-normal-acceleration = 2
30b3455978d9 Corrected issues with safety-analysis script, variable names are changed and tracking.cfg accordingly
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 418
diff changeset
126 # maximum steering for normal adaptation input symmetric distribution (rad/s)
30b3455978d9 Corrected issues with safety-analysis script, variable names are changed and tracking.cfg accordingly
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 418
diff changeset
127 max-normal-steering = 0.2
30b3455978d9 Corrected issues with safety-analysis script, variable names are changed and tracking.cfg accordingly
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 418
diff changeset
128 # minimum acceleration for input distribution (m/s2) (extreme values used for evasive action distributions)
30b3455978d9 Corrected issues with safety-analysis script, variable names are changed and tracking.cfg accordingly
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 418
diff changeset
129 min-extreme-acceleration = -9.1
30b3455978d9 Corrected issues with safety-analysis script, variable names are changed and tracking.cfg accordingly
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 418
diff changeset
130 # maximum acceleration for input distribution (m/s2) (extreme values used for evasive action distributions)
30b3455978d9 Corrected issues with safety-analysis script, variable names are changed and tracking.cfg accordingly
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 418
diff changeset
131 max-extreme-acceleration = 4.3
30b3455978d9 Corrected issues with safety-analysis script, variable names are changed and tracking.cfg accordingly
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 418
diff changeset
132 # maximum steering for input distribution (rad/s) (extreme values used for evasive action distributions)
30b3455978d9 Corrected issues with safety-analysis script, variable names are changed and tracking.cfg accordingly
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 418
diff changeset
133 max-extreme-steering = 0.5
351
891858351bcb added new parameter (use features) for safety analysis
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 349
diff changeset
134 # use feature positions and velocities for prediction
352
72aa44072093 safety analysis script with option for prediction method
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 351
diff changeset
135 use-features-prediction = true