From 65c6f3f4b210eb59b8750552b5c7f6dbf0622fa0 Mon Sep 17 00:00:00 2001
From: Henry Dykhne <ehdykhne@uwaterloo.ca>
Date: Wed, 29 Nov 2023 18:48:30 -0500
Subject: [PATCH] changed horizon
---
.../simulation/occlusion/complete_shadow_occlusion_manager.py | 2 +-
1 file changed, 1 insertion(+), 1 deletion(-)
diff --git a/nuplan/planning/simulation/occlusion/complete_shadow_occlusion_manager.py b/nuplan/planning/simulation/occlusion/complete_shadow_occlusion_manager.py
index 5690168..2c2ab1d 100644
--- a/nuplan/planning/simulation/occlusion/complete_shadow_occlusion_manager.py
+++ b/nuplan/planning/simulation/occlusion/complete_shadow_occlusion_manager.py
@@ -23,7 +23,7 @@ class CompleteShadowOcclusionManager(AbstractOcclusionManager):
def __init__(
self,
scenario: AbstractScenario,
- horizon_threshold: float = 4800, # meters since that is how far a standing human can see unblocked before the curvature of the earth cuts your line of sight
+ horizon_threshold: float = 1000, # meters since that is how far a standing human can see unblocked before the curvature of the earth cuts your line of sight
min_rad: float = 0.035, # minimum radians that the vehicle must take up to be observed (0.035 = aprox 2 degrees)
num_wedges: float = 180 # gives wedge width of roughly 2 degrees
--
GitLab