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fix: fix perception docs
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Signed-off-by: vividf <[email protected]>
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vividf committed Dec 24, 2024
1 parent f2a4129 commit 609a5ff
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Showing 5 changed files with 163 additions and 112 deletions.
41 changes: 31 additions & 10 deletions perception/autoware_object_merger/schema/data_association_matrix.schema.json
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"$schema": "http://json-schema.org/draft-07/schema#",
"title": "Data Association Matrix Parameters",
"type": "object",
"properties": {
"ros__parameters": {
"definitions": {
"data_association_matrix": {
"type": "object",
"properties": {
"can_assign_matrix": {
"type": "array",
"items": {
"type": "number"
},
"description": "Assignment table for data association"
"description": "Assignment table for data association.",
"default": []
},
"max_dist_matrix": {
"type": "array",
"items": {
"type": "number"
},
"description": "Maximum distance table for data association"
"description": "Maximum distance table for data association.",
"default": []
},
"max_rad_matrix": {
"type": "array",
"items": {
"type": "number"
"type": "number",
"minimum": 0.0
},
"description": "Maximum angle table for data association. If value is greater than pi, it will be ignored."
"description": "Maximum angle table for data association. If value is greater than pi, it will be ignored.",
"default": []
},
"min_iou_matrix": {
"type": "array",
"items": {
"type": "number"
"type": "number",
"minimum": 0.0
},
"description": "Minimum IoU threshold matrix for data association. If value is negative, it will be ignored."
"description": "Minimum IoU threshold matrix for data association. If value is negative, it will be ignored.",
"default": []
}
},
"required": ["can_assign_matrix", "max_dist_matrix", "max_rad_matrix", "min_iou_matrix"],
"additionalProperties": false
}
},
"properties": {
"/**": {
"type": "object",
"properties": {
"ros__parameters": {
"$ref": "#/definitions/data_association_matrix"
}
},
"required": ["can_assign_matrix", "max_dist_matrix", "max_rad_matrix", "min_iou_matrix"]
"required": ["ros__parameters"],
"additionalProperties": false
}
}
},
"required": ["/**"],
"additionalProperties": false
}
9 changes: 6 additions & 3 deletions perception/autoware_object_merger/schema/object_association_merger.schema.json
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Expand Up @@ -45,7 +45,8 @@
"remove_overlapped_unknown_objects",
"base_link_frame_id",
"priority_mode"
]
],
"additionalProperties": false
}
},
"properties": {
Expand All @@ -56,8 +57,10 @@
"$ref": "#/definitions/object_association_merger"
}
},
"required": ["ros__parameters"]
"required": ["ros__parameters"],
"additionalProperties": false
}
},
"required": ["/**"]
"required": ["/**"],
"additionalProperties": false
}
33 changes: 26 additions & 7 deletions perception/autoware_object_merger/schema/overlapped_judge.schema.json
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Expand Up @@ -2,26 +2,45 @@
"$schema": "http://json-schema.org/draft-07/schema#",
"title": "Overlapped Judge Parameters",
"type": "object",
"properties": {
"ros__parameters": {
"definitions": {
"overlapped_judge": {
"type": "object",
"properties": {
"distance_threshold_list": {
"type": "array",
"items": {
"type": "number"
},
"description": "Distance threshold for each class used in judging overlap."
"description": "Distance threshold for each class used in judging overlap.",
"default": [9.0, 9.0, 9.0, 9.0, 9.0, 9.0, 9.0, 9.0]
},
"generalized_iou_threshold": {
"type": "array",
"items": {
"type": "number"
"type": "number",
"minimum": -1.0,
"maximum": 1.0
},
"description": "Generalized IoU threshold for each class."
"description": "Generalized IoU threshold for each class.",
"default": [-0.1, -0.1, -0.1, -0.6, -0.6, -0.1, -0.1, -0.1]
}
},
"required": ["distance_threshold_list", "generalized_iou_threshold"],
"additionalProperties": false
}
},
"properties": {
"/**": {
"type": "object",
"properties": {
"ros__parameters": {
"$ref": "#/definitions/overlapped_judge"
}
},
"required": ["distance_threshold_list", "generalized_iou_threshold"]
"required": ["ros__parameters"],
"additionalProperties": false
}
}
},
"required": ["/**"],
"additionalProperties": false
}
2 changes: 1 addition & 1 deletion perception/autoware_occupancy_grid_map_outlier_filter/README.md
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Expand Up @@ -40,7 +40,7 @@ The following video is a sample. Yellow points are high occupancy probability, g

## Parameters

{{ json_to_markdown("perception/occupancy_grid_map_outlier_filter/schema/occupancy_grid_map_outlier_filter.schema.json") }}
{{ json_to_markdown("perception/autoware_occupancy_grid_map_outlier_filter/schema/occupancy_grid_map_outlier_filter.schema.json") }}

## Assumptions / Known limits

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190 changes: 99 additions & 91 deletions ...are_probabilistic_occupancy_grid_map/schema/synchronized_grid_map_fusion_node.schema.json
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Expand Up @@ -2,104 +2,112 @@
"$schema": "http://json-schema.org/draft-07/schema#",
"title": "Parameters for Synchronized Grid Map Fusion Node",
"type": "object",
"definitions": {
"synchronized_grid_map_fusion": {
"type": "object",
"properties": {
"fusion_input_ogm_topics": {
"type": "array",
"description": "List of fusion input occupancy grid map topics.",
"items": {
"type": "string"
},
"default": ["topic1", "topic2"]
},
"input_ogm_reliabilities": {
"type": "array",
"description": "Reliability of each sensor for fusion.",
"items": {
"type": "number",
"minimum": 0.0,
"maximum": 1.0
},
"default": [0.8, 0.2]
},
"fusion_method": {
"type": "string",
"description": "Method for occupancy grid map fusion.",
"enum": ["overwrite", "log-odds", "dempster-shafer"],
"default": "overwrite"
},
"match_threshold_sec": {
"type": "number",
"description": "Time threshold for matching in seconds.",
"default": 0.01
},
"timeout_sec": {
"type": "number",
"description": "Timeout for synchronization in seconds.",
"default": 0.1
},
"input_offset_sec": {
"type": "array",
"description": "Offset for each input in seconds.",
"items": {
"type": "number"
},
"default": [0.0, 0.0]
},
"map_frame_": {
"type": "string",
"description": "The frame ID of the map.",
"default": "map"
},
"base_link_frame_": {
"type": "string",
"description": "The frame ID of the base link.",
"default": "base_link"
},
"grid_map_origin_frame_": {
"type": "string",
"description": "The frame ID of the grid map origin.",
"default": "base_link"
},
"fusion_map_length_x": {
"type": "number",
"description": "The length of the fusion map in the x direction.",
"default": 100.0
},
"fusion_map_length_y": {
"type": "number",
"description": "The length of the fusion map in the y direction.",
"default": 100.0
},
"fusion_map_resolution": {
"type": "number",
"description": "The resolution of the fusion map.",
"default": 0.5
}
},
"required": [
"fusion_input_ogm_topics",
"input_ogm_reliabilities",
"fusion_method",
"match_threshold_sec",
"timeout_sec",
"input_offset_sec",
"map_frame_",
"base_link_frame_",
"grid_map_origin_frame_",
"fusion_map_length_x",
"fusion_map_length_y",
"fusion_map_resolution"
],
"additionalProperties": false
}
},
"properties": {
"/**": {
"type": "object",
"properties": {
"ros__parameters": {
"type": "object",
"properties": {
"fusion_input_ogm_topics": {
"type": "array",
"description": "List of fusion input occupancy grid map topics.",
"items": {
"type": "string"
},
"default": ["topic1", "topic2"]
},
"input_ogm_reliabilities": {
"type": "array",
"description": "Reliability of each sensor for fusion.",
"items": {
"type": "number",
"minimum": 0.0,
"maximum": 1.0
},
"default": [0.8, 0.2]
},
"fusion_method": {
"type": "string",
"description": "Method for occupancy grid map fusion.",
"enum": ["overwrite", "log-odds", "dempster-shafer"],
"default": "overwrite"
},
"match_threshold_sec": {
"type": "number",
"description": "Time threshold for matching in seconds.",
"default": 0.01
},
"timeout_sec": {
"type": "number",
"description": "Timeout for synchronization in seconds.",
"default": 0.1
},
"input_offset_sec": {
"type": "array",
"description": "Offset for each input in seconds.",
"items": {
"type": "number"
},
"default": [0.0, 0.0]
},
"map_frame_": {
"type": "string",
"description": "The frame ID of the map.",
"default": "map"
},
"base_link_frame_": {
"type": "string",
"description": "The frame ID of the base link.",
"default": "base_link"
},
"grid_map_origin_frame_": {
"type": "string",
"description": "The frame ID of the grid map origin.",
"default": "base_link"
},
"fusion_map_length_x": {
"type": "number",
"description": "The length of the fusion map in the x direction.",
"default": 100.0
},
"fusion_map_length_y": {
"type": "number",
"description": "The length of the fusion map in the y direction.",
"default": 100.0
},
"fusion_map_resolution": {
"type": "number",
"description": "The resolution of the fusion map.",
"default": 0.5
}
},
"required": [
"fusion_input_ogm_topics",
"input_ogm_reliabilities",
"fusion_method",
"match_threshold_sec",
"timeout_sec",
"input_offset_sec",
"map_frame_",
"base_link_frame_",
"grid_map_origin_frame_",
"fusion_map_length_x",
"fusion_map_length_y",
"fusion_map_resolution"
]
"$ref": "#/definitions/synchronized_grid_map_fusion"
}
},
"required": ["ros__parameters"]
"required": ["ros__parameters"],
"additionalProperties": false
}
},
"required": ["/**"]
"required": ["/**"],
"additionalProperties": false
}

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