setting.py

# Set randome seed to None for random testing, to 0 for deterministic testing
RANDOM_SEED = None
# RANDOM_SEED = 0

PARTICLE_COUNT = 5000       # Total number of particles in your filter

# odometry Gaussian noise model
ODOM_TRANS_SIGMA = 0.01     # translational err in inch (grid unit)
ODOM_HEAD_SIGMA = 1         # rotational err in deg

# marker measurement Gaussian noise model
# MARKER_TRANS_SIGMA = 0.5    # translational err in inch (grid unit)
# MARKER_ROT_SIGMA = 5        # rotational err in deg
MARKER_TRANS_SIGMA = 5      # translational err in inch (grid unit)
MARKER_ROT_SIGMA = 25       # rotational err in deg

PARTICLE_MAX_SHOW = 500     # Max number of particles to be shown in GUI (for speed up)

ROBOT_CAMERA_FOV_DEG = 40  # Robot camera FOV in degree

###################################
## Non ideal robot detection model
###################################
## Feel free to modify the values for debugging

# Clean detection
DETECTION_FAILURE_RATE = 0.2
SPURIOUS_DETECTION_RATE = 0.1
# # noisy detection
# DETECTION_FAILURE_RATE = 0.1
# SPURIOUS_DETECTION_RATE = 0.1