Skip to content
New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

Sign up for GitHub

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

fix(perception): fix perception docs #9766

Merged
merged 9 commits into from
Dec 25, 2024
Merged

fix(perception): fix perception docs #9766

Show file tree
Hide file tree
Changes from 2 commits
Commits
Show all changes
9 commits
Select commit Hold shift + click to select a range
a10f5cc
fix: fix perception docs
vividf Dec 24, 2024
6b00abd
fix: fix missing parameter in schema
vividf Dec 24, 2024
890e6cb
Update perception/autoware_object_merger/schema/data_association_matr…
vividf Dec 25, 2024
53be2a0
Update perception/autoware_object_merger/schema/data_association_matr…
vividf Dec 25, 2024
c4143f3
Update perception/autoware_object_merger/schema/data_association_matr…
vividf Dec 25, 2024
343982b
Update perception/autoware_object_merger/schema/data_association_matr…
vividf Dec 25, 2024
d86b006
Merge branch 'main' into fix/fix_perception_docs
vividf Dec 25, 2024
a34bf00
style(pre-commit): autofix
pre-commit-ci[bot] Dec 25, 2024
e77c495
chore: seperate paramters for different nodes
vividf Dec 25, 2024
File filter

Filter by extension

Filter by extension
Conversations
Failed to load comments.
Loading
Jump to
Jump to file
Failed to load files.
Loading
Diff view
Diff view
41 changes: 31 additions & 10 deletions perception/autoware_object_merger/schema/data_association_matrix.schema.json
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -2,40 +2,61 @@
"$schema": "http://json-schema.org/draft-07/schema#",
"title": "Data Association Matrix Parameters",
"type": "object",
"properties": {
"ros__parameters": {
"definitions": {
"data_association_matrix": {
"type": "object",
"properties": {
"can_assign_matrix": {
"type": "array",
"items": {
"type": "number"
},
"description": "Assignment table for data association"
"description": "Assignment table for data association.",
"default": []
vividf marked this conversation as resolved.
Show resolved Hide resolved
},
"max_dist_matrix": {
"type": "array",
"items": {
"type": "number"
},
"description": "Maximum distance table for data association"
"description": "Maximum distance table for data association.",
"default": []
vividf marked this conversation as resolved.
Show resolved Hide resolved
},
"max_rad_matrix": {
"type": "array",
"items": {
"type": "number"
"type": "number",
"minimum": 0.0
},
"description": "Maximum angle table for data association. If value is greater than pi, it will be ignored."
"description": "Maximum angle table for data association. If value is greater than pi, it will be ignored.",
"default": []
vividf marked this conversation as resolved.
Show resolved Hide resolved
},
"min_iou_matrix": {
"type": "array",
"items": {
"type": "number"
"type": "number",
"minimum": 0.0
},
"description": "Minimum IoU threshold matrix for data association. If value is negative, it will be ignored."
"description": "Minimum IoU threshold matrix for data association. If value is negative, it will be ignored.",
"default": []
vividf marked this conversation as resolved.
Show resolved Hide resolved
}
},
"required": ["can_assign_matrix", "max_dist_matrix", "max_rad_matrix", "min_iou_matrix"],
"additionalProperties": false
}
},
"properties": {
"/**": {
"type": "object",
"properties": {
"ros__parameters": {
"$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
View file
Open in desktop
Original file line number Diff line number Diff line change
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 @@
"$ref": "#/definitions/object_association_merger"
}
},
"required": ["ros__parameters"]
"required": ["ros__parameters"],
"additionalProperties": false
}
},
"required": ["/**"]
"required": ["/**"],
"additionalProperties": false
}
33 changes: 26 additions & 7 deletions perception/autoware_object_merger/schema/overlapped_judge.schema.json
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -2,26 +2,45 @@
"$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
View file
Open in desktop
Original file line number Diff line number Diff line change
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

Expand Down
196 changes: 105 additions & 91 deletions ...are_probabilistic_occupancy_grid_map/schema/synchronized_grid_map_fusion_node.schema.json
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -2,104 +2,118 @@
"$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
},
"publish_processing_time_detail": {
"type": "boolean",
"description": "True for showing detail of publish processing time.",
"default": false
}
},
"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",
"publish_processing_time_detail"
],
"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
}
Loading