storypku
commented
3 years ago @jeroldchen @panfengsu @xiaoMrzhang Would you please look into this issue? Thank you.
Open Monkey-Hu opened 3 years ago
storypku
commented
3 years ago @jeroldchen @panfengsu @xiaoMrzhang Would you please look into this issue? Thank you.
in file: modules/perception/production/data/perception/camera/models/omt_obstacle_tracker/config.pt
there are two peremeters: large_velocity_ratio : 2.5 too_large_velocity_ratio : 1.5
Inferring from the literal meaning, including from the logic of the code, whether these two parameters are set inversely. Code in target.cc: if (ratio > targetparam.too_large_velocity_ratio()) { // 1.5 world_center.MagicVelocity(vel); ADEBUG << "Velocity too large"; } else if (ratio > targetparam.large_velocity_ratio()) { // 2.5 vel(0) = (x(2) + vel(0)) / 2; vel(1) = (x(3) + vel(1)) / 2; world_center.MagicVelocity(vel); ADEBUG << "Velocity large"; } else { ADEBUG << "Velocity normal"; }