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refactor(object_merger): rework parameters (autowarefoundation#7337)
* Deleted the default values in the source code, updated .param.yaml files, created schema.json files, updated readme. Signed-off-by: Boyang <tby@udel.edu> * style(pre-commit): autofix --------- Signed-off-by: Boyang <tby@udel.edu> Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>
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41 changes: 41 additions & 0 deletions
41
perception/object_merger/schema/data_association_matrix.schema.json
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,41 @@ | ||
| { | ||
| "$schema": "http://json-schema.org/draft-07/schema#", | ||
| "title": "Data Association Matrix Parameters", | ||
| "type": "object", | ||
| "properties": { | ||
| "ros__parameters": { | ||
| "type": "object", | ||
| "properties": { | ||
| "can_assign_matrix": { | ||
| "type": "array", | ||
| "items": { | ||
| "type": "number" | ||
| }, | ||
| "description": "Assignment table for data association" | ||
| }, | ||
| "max_dist_matrix": { | ||
| "type": "array", | ||
| "items": { | ||
| "type": "number" | ||
| }, | ||
| "description": "Maximum distance table for data association" | ||
| }, | ||
| "max_rad_matrix": { | ||
| "type": "array", | ||
| "items": { | ||
| "type": "number" | ||
| }, | ||
| "description": "Maximum angle table for data association. If value is greater than pi, it will be ignored." | ||
| }, | ||
| "min_iou_matrix": { | ||
| "type": "array", | ||
| "items": { | ||
| "type": "number" | ||
| }, | ||
| "description": "Minimum IoU threshold matrix for data association. If value is negative, it will be ignored." | ||
| } | ||
| }, | ||
| "required": ["can_assign_matrix", "max_dist_matrix", "max_rad_matrix", "min_iou_matrix"] | ||
| } | ||
| } | ||
| } |
63 changes: 63 additions & 0 deletions
63
perception/object_merger/schema/object_association_merger.schema.json
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|---|---|---|
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| { | ||
| "$schema": "http://json-schema.org/draft-07/schema#", | ||
| "title": "Parameters for Object Association Merger Node", | ||
| "type": "object", | ||
| "definitions": { | ||
| "object_association_merger": { | ||
| "type": "object", | ||
| "properties": { | ||
| "sync_queue_size": { | ||
| "type": "integer", | ||
| "description": "The size of the synchronization queue.", | ||
| "default": 20 | ||
| }, | ||
| "precision_threshold_to_judge_overlapped": { | ||
| "type": "number", | ||
| "description": "The precision threshold to judge if objects are overlapped.", | ||
| "default": 0.4 | ||
| }, | ||
| "recall_threshold_to_judge_overlapped": { | ||
| "type": "number", | ||
| "description": "The recall threshold to judge if objects are overlapped.", | ||
| "default": 0.5 | ||
| }, | ||
| "remove_overlapped_unknown_objects": { | ||
| "type": "boolean", | ||
| "description": "Flag to remove overlapped unknown objects.", | ||
| "default": true | ||
| }, | ||
| "base_link_frame_id": { | ||
| "type": "string", | ||
| "description": "The frame ID of the association frame.", | ||
| "default": "base_link" | ||
| }, | ||
| "priority_mode": { | ||
| "type": "integer", | ||
| "description": "Index for the priority_mode.", | ||
| "default": 3, | ||
| "enum": [0, 1, 2, 3] | ||
| } | ||
| }, | ||
| "required": [ | ||
| "sync_queue_size", | ||
| "precision_threshold_to_judge_overlapped", | ||
| "recall_threshold_to_judge_overlapped", | ||
| "remove_overlapped_unknown_objects", | ||
| "base_link_frame_id", | ||
| "priority_mode" | ||
| ] | ||
| } | ||
| }, | ||
| "properties": { | ||
| "/**": { | ||
| "type": "object", | ||
| "properties": { | ||
| "ros__parameters": { | ||
| "$ref": "#/definitions/object_association_merger" | ||
| } | ||
| }, | ||
| "required": ["ros__parameters"] | ||
| } | ||
| }, | ||
| "required": ["/**"] | ||
| } |
27 changes: 27 additions & 0 deletions
27
perception/object_merger/schema/overlapped_judge.schema.json
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| { | ||
| "$schema": "http://json-schema.org/draft-07/schema#", | ||
| "title": "Overlapped Judge Parameters", | ||
| "type": "object", | ||
| "properties": { | ||
| "ros__parameters": { | ||
| "type": "object", | ||
| "properties": { | ||
| "distance_threshold_list": { | ||
| "type": "array", | ||
| "items": { | ||
| "type": "number" | ||
| }, | ||
| "description": "Distance threshold for each class used in judging overlap." | ||
| }, | ||
| "generalized_iou_threshold": { | ||
| "type": "array", | ||
| "items": { | ||
| "type": "number" | ||
| }, | ||
| "description": "Generalized IoU threshold for each class." | ||
| } | ||
| }, | ||
| "required": ["distance_threshold_list", "generalized_iou_threshold"] | ||
| } | ||
| } | ||
| } |
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