I am going through the code in lane_filter_node.py. While I understand the overall detection pipeline, I’m having trouble understanding how certain things work in the lane_filter_node.py. These are:
- What exactly is
instantiate(c, c)instantiating? What are the parameters? (I understand that c is function name and c are its parameters) Do they specify to instantiate a Bayes’ filter?
- What are each of these steps doing:
Step #0 get values from server, #1 predict, #2 update, #3 build messages and publish things
- What is self.curvature_res?
- Where can I find the definitions for
- Apart from this, what is the difference between lane_filter and lane_filter_generic?
First of all, for understanding of the underlying algorithm please refer to the lecture on “lane filter” here.
For answers to your other specific questions:
You can specify what type of object is being instantiated in the config file. At present we instantiate an object of type `lane_filter.LaneFilterHistogram`
I’m not sure what
curvature_res does – someone else put that there. I will try to figure out.
The definitions for those functions are in the
I’m not sure I understand the last question can you tell me where you see lane_filter_generic?