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feat(autoware_raindrop_cluster_filter): Created Schema file and updated ReadME file for parameters setting #10010

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feat(autoware_raindrop_cluster_filter): Created Schema file and updated ReadME file for parameters setting #10010

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feat(autoware_raindrop_cluster_filter): Created Schema file and upda…
vish0012 Jan 23, 2025
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19 changes: 1 addition & 18 deletions perception/autoware_raindrop_cluster_filter/raindrop_cluster_filter.md
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Original file line number Diff line number Diff line change
Expand Up @@ -24,24 +24,7 @@ Mainly this focuses on filtering out unknown objects with very low intensity poi

## Parameters

### Core Parameters

| Name | Type | Default Value | Description |
| --------------------------------- | ----- | ------------- | ------------------------------------------------------- |
| `filter_target_label.UNKNOWN` | bool | false | If true, unknown objects are filtered. |
| `filter_target_label.CAR` | bool | false | If true, car objects are filtered. |
| `filter_target_label.TRUCK` | bool | false | If true, truck objects are filtered. |
| `filter_target_label.BUS` | bool | false | If true, bus objects are filtered. |
| `filter_target_label.TRAILER` | bool | false | If true, trailer objects are filtered. |
| `filter_target_label.MOTORCYCLE` | bool | false | If true, motorcycle objects are filtered. |
| `filter_target_label.BICYCLE` | bool | false | If true, bicycle objects are filtered. |
| `filter_target_label.PEDESTRIAN` | bool | false | If true, pedestrian objects are filtered. |
| `max_x` | float | 60.00 | Maximum of x of the filter effective range |
| `min_x` | float | -20.00 | Minimum of x of the filter effective range |
| `max_y` | float | 20.00 | Maximum of y of the filter effective range |
| `min_y` | float | -20.00 | Minium of y of the filter effective range |
| `intensity_threshold` | float | 1.0 | The threshold of average intensity for filter |
| `existence_probability_threshold` | float | 0.2 | The existence probability threshold to apply the filter |
{{ json_to_markdown("perception/autoware_raindrop_cluster_filter>/schema/low_intensity_cluster_filter.schema.json") }}

## Assumptions / Known limits

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122 changes: 122 additions & 0 deletions perception/autoware_raindrop_cluster_filter/schema/low_intensity_cluster_filter.schema.json
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{
"$schema": "http://json-schema.org/draft-07/schema#",
"title": "low_intensity_cluster_filter parameters",
"type": "object",
"definitions": {
"low_intensity_cluster_filter": {
"type": "object",
"properties": {
"intensity_threshold": {
"type": "number",
"description": "The threshold of average intensity for filter.",
"default": 1.0
},
"existence_probability_threshold": {
"type": "number",
"description": "The existence probability threshold to apply the filter.",
"default": 0.2
},
"max_x": {
"type": "number",
"description": "Maximum of x of the filter effective range.",
"default": 60.0
},
"min_x": {
"type": "number",
"description": "Minimum of x of the filter effective range.",
"default": -20.0
},
"max_y": {
"type": "number",
"description": "Maximum of y of the filter effective range.",
"default": 20.0
},
"min_y": {
"type": "number",
"description": "Minimum of y of the filter effective range.",
"default": -20.0
},
"filter_target_label": {
"type": "object",
"properties": {
"UNKNOWN": {
"type": "boolean",
"description": "If true, unknown objects are filtered.",
"default": true
},
"CAR": {
"type": "boolean",
"description": "If true, car objects are filtered.",
"default": false
},
"TRUCK": {
"type": "boolean",
"description": "If true, truck objects are filtered.",
"default": false
},
"BUS": {
"type": "boolean",
"description": "If true, bus objects are filtered.",
"default": false
},
"TRAILER": {
"type": "boolean",
"description": "If true, trailer objects are filtered.",
"default": false
},
"MOTORCYCLE": {
"type": "boolean",
"description": "If true, motorcycle objects are filtered.",
"default": false
},
"BICYCLE": {
"type": "boolean",
"description": "If true, bicycle objects are filtered.",
"default": false
},
"PEDESTRIAN": {
"type": "boolean",
"description": "If true, pedestrian objects are filtered.",
"default": false
}
},
"required": [
"UNKNOWN",
"CAR",
"TRUCK",
"BUS",
"TRAILER",
"MOTORCYCLE",
"BICYCLE",
"PEDESTRIAN"
],
"additionalProperties": false
}
},
"required": [
"intensity_threshold",
"existence_probability_threshold",
"max_x",
"min_x",
"max_y",
"min_y",
"filter_target_label"
],
"additionalProperties": false
}
},
"properties": {
"/**": {
"type": "object",
"properties": {
"ros__parameters": {
"$ref": "#/definitions/low_intensity_cluster_filter"
}
},
"required": ["ros__parameters"],
"additionalProperties": false
}
},
"required": ["/**"],
"additionalProperties": false
}
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