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Merge pull request #1550 from tier4/hotfix/object_validation
refactor(detected_object_validation): rework parameters (autowarefoundation#7750)
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1 change: 1 addition & 0 deletions
1
...tion/autoware_detected_object_validation/config/occupancy_grid_based_validator.param.yaml
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -1,3 +1,4 @@ | ||
| /**: | ||
| ros__parameters: | ||
| mean_threshold: 0.6 | ||
| enable_debug: false |
121 changes: 121 additions & 0 deletions
121
perception/autoware_detected_object_validation/schema/object_lanelet_filter.schema.json
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| @@ -0,0 +1,121 @@ | ||
| { | ||
| "$schema": "http://json-schema.org/draft-07/schema#", | ||
| "title": "Parameters for Object Lanelet Filter", | ||
| "type": "object", | ||
| "definitions": { | ||
| "object_lanelet_filter": { | ||
| "type": "object", | ||
| "properties": { | ||
| "filter_target_label": { | ||
| "type": "object", | ||
| "properties": { | ||
| "UNKNOWN": { | ||
| "type": "boolean", | ||
| "default": true, | ||
| "description": "If true, unknown objects are filtered." | ||
| }, | ||
| "CAR": { | ||
| "type": "boolean", | ||
| "default": false, | ||
| "description": "If true, car objects are filtered." | ||
| }, | ||
| "TRUCK": { | ||
| "type": "boolean", | ||
| "default": false, | ||
| "description": "If true, truck objects are filtered." | ||
| }, | ||
| "BUS": { | ||
| "type": "boolean", | ||
| "default": false, | ||
| "description": "If true, bus objects are filtered." | ||
| }, | ||
| "TRAILER": { | ||
| "type": "boolean", | ||
| "default": false, | ||
| "description": "If true, trailer objects are filtered." | ||
| }, | ||
| "MOTORCYCLE": { | ||
| "type": "boolean", | ||
| "default": false, | ||
| "description": "If true, motorcycle objects are filtered." | ||
| }, | ||
| "BICYCLE": { | ||
| "type": "boolean", | ||
| "default": false, | ||
| "description": "If true, bicycle objects are filtered." | ||
| }, | ||
| "PEDESTRIAN": { | ||
| "type": "boolean", | ||
| "default": false, | ||
| "description": "If true, pedestrian objects are filtered." | ||
| } | ||
| }, | ||
| "required": [ | ||
| "UNKNOWN", | ||
| "CAR", | ||
| "TRUCK", | ||
| "BUS", | ||
| "TRAILER", | ||
| "MOTORCYCLE", | ||
| "BICYCLE", | ||
| "PEDESTRIAN" | ||
| ] | ||
| }, | ||
| "filter_settings": { | ||
| "type": "object", | ||
| "properties": { | ||
| "polygon_overlap_filter": { | ||
| "type": "object", | ||
| "properties": { | ||
| "enabled": { | ||
| "type": "boolean", | ||
| "default": true, | ||
| "description": "If true, objects that are not in the lanelet polygon are filtered." | ||
| } | ||
| }, | ||
| "required": ["enabled"] | ||
| }, | ||
| "lanelet_direction_filter": { | ||
| "type": "object", | ||
| "properties": { | ||
| "enabled": { | ||
| "type": "boolean", | ||
| "default": false, | ||
| "description": "If true, objects that are not in the same direction as the lanelet are filtered." | ||
| }, | ||
| "velocity_yaw_threshold": { | ||
| "type": "number", | ||
| "default": 0.785398, | ||
| "description": "If the yaw difference between the object and the lanelet is greater than this value, the object is filtered." | ||
| }, | ||
| "object_speed_threshold": { | ||
| "type": "number", | ||
| "default": 3.0, | ||
| "description": "If the object speed is greater than this value, the object is filtered." | ||
| } | ||
| }, | ||
| "required": ["enabled", "velocity_yaw_threshold", "object_speed_threshold"] | ||
| } | ||
| }, | ||
| "required": ["polygon_overlap_filter", "lanelet_direction_filter"] | ||
| } | ||
| }, | ||
| "required": ["filter_target_label", "filter_settings"], | ||
| "additionalProperties": false | ||
| } | ||
| }, | ||
| "properties": { | ||
| "/**": { | ||
| "type": "object", | ||
| "properties": { | ||
| "ros__parameters": { | ||
| "$ref": "#/definitions/object_lanelet_filter" | ||
| } | ||
| }, | ||
| "required": ["ros__parameters"], | ||
| "additionalProperties": false | ||
| } | ||
| }, | ||
| "required": ["/**"], | ||
| "additionalProperties": false | ||
| } |
106 changes: 106 additions & 0 deletions
106
perception/autoware_detected_object_validation/schema/object_position_filter.schema.json
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|---|---|---|
| @@ -0,0 +1,106 @@ | ||
| { | ||
| "$schema": "http://json-schema.org/draft-07/schema#", | ||
| "title": "Parameters for Object Position Filter", | ||
| "type": "object", | ||
| "definitions": { | ||
| "object_position_filter_params": { | ||
| "type": "object", | ||
| "properties": { | ||
| "filter_target_label": { | ||
| "type": "object", | ||
| "properties": { | ||
| "UNKNOWN": { | ||
| "type": "boolean", | ||
| "default": true, | ||
| "description": "Filter for UNKNOWN label" | ||
| }, | ||
| "CAR": { | ||
| "type": "boolean", | ||
| "default": false, | ||
| "description": "Filter for CAR label" | ||
| }, | ||
| "TRUCK": { | ||
| "type": "boolean", | ||
| "default": false, | ||
| "description": "Filter for TRUCK label" | ||
| }, | ||
| "BUS": { | ||
| "type": "boolean", | ||
| "default": false, | ||
| "description": "Filter for BUS label" | ||
| }, | ||
| "TRAILER": { | ||
| "type": "boolean", | ||
| "default": false, | ||
| "description": "Filter for TRAILER label" | ||
| }, | ||
| "MOTORCYCLE": { | ||
| "type": "boolean", | ||
| "default": false, | ||
| "description": "Filter for MOTORCYCLE label" | ||
| }, | ||
| "BICYCLE": { | ||
| "type": "boolean", | ||
| "default": false, | ||
| "description": "Filter for BICYCLE label" | ||
| }, | ||
| "PEDESTRIAN": { | ||
| "type": "boolean", | ||
| "default": false, | ||
| "description": "Filter for PEDESTRIAN label" | ||
| } | ||
| }, | ||
| "required": [ | ||
| "UNKNOWN", | ||
| "CAR", | ||
| "TRUCK", | ||
| "BUS", | ||
| "TRAILER", | ||
| "MOTORCYCLE", | ||
| "BICYCLE", | ||
| "PEDESTRIAN" | ||
| ] | ||
| }, | ||
| "upper_bound_x": { | ||
| "type": "number", | ||
| "default": 100.0, | ||
| "description": "Upper bound for X coordinate" | ||
| }, | ||
| "lower_bound_x": { | ||
| "type": "number", | ||
| "default": 0.0, | ||
| "description": "Lower bound for X coordinate" | ||
| }, | ||
| "upper_bound_y": { | ||
| "type": "number", | ||
| "default": 10.0, | ||
| "description": "Upper bound for Y coordinate" | ||
| }, | ||
| "lower_bound_y": { | ||
| "type": "number", | ||
| "default": -10.0, | ||
| "description": "Lower bound for Y coordinate" | ||
| } | ||
| }, | ||
| "required": [ | ||
| "filter_target_label", | ||
| "upper_bound_x", | ||
| "lower_bound_x", | ||
| "upper_bound_y", | ||
| "lower_bound_y" | ||
| ] | ||
| } | ||
| }, | ||
| "properties": { | ||
| "/**": { | ||
| "type": "object", | ||
| "properties": { | ||
| "ros__parameters": { | ||
| "$ref": "#/definitions/object_position_filter_params" | ||
| } | ||
| }, | ||
| "required": ["ros__parameters"] | ||
| } | ||
| }, | ||
| "required": ["/**"] | ||
| } |
68 changes: 68 additions & 0 deletions
68
...utoware_detected_object_validation/schema/obstacle_pointcloud_based_validator.schema.json
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,68 @@ | ||
| { | ||
| "$schema": "http://json-schema.org/draft-07/schema#", | ||
| "title": "Parameters for Obstacle Pointcloud Based Validator", | ||
| "type": "object", | ||
| "definitions": { | ||
| "obstacle_pointcloud_based_validator": { | ||
| "type": "object", | ||
| "properties": { | ||
| "min_points_num": { | ||
| "type": "array", | ||
| "items": { | ||
| "type": "integer" | ||
| }, | ||
| "default": [10, 10, 10, 10, 10, 10, 10, 10], | ||
| "description": "The minimum number of obstacle point clouds in DetectedObjects" | ||
| }, | ||
| "max_points_num": { | ||
| "type": "array", | ||
| "items": { | ||
| "type": "integer" | ||
| }, | ||
| "default": [10, 10, 10, 10, 10, 10, 10, 10], | ||
| "description": "The max number of obstacle point clouds in DetectedObjects" | ||
| }, | ||
| "min_points_and_distance_ratio": { | ||
| "type": "array", | ||
| "items": { | ||
| "type": "number" | ||
| }, | ||
| "default": [800, 800, 800, 800, 800, 800, 800, 800], | ||
| "description": "Threshold value of the number of point clouds per object when the distance from baselink is 1m, because the number of point clouds varies with the distance from baselink." | ||
| }, | ||
| "using_2d_validator": { | ||
| "type": "boolean", | ||
| "default": false, | ||
| "description": "The xy-plane projected (2D) obstacle point clouds will be used for validation" | ||
| }, | ||
| "enable_debugger": { | ||
| "type": "boolean", | ||
| "default": false, | ||
| "description": "Whether to create debug topics or not?" | ||
| } | ||
| }, | ||
| "required": [ | ||
| "min_points_num", | ||
| "max_points_num", | ||
| "min_points_and_distance_ratio", | ||
| "using_2d_validator", | ||
| "enable_debugger" | ||
| ], | ||
| "additionalProperties": false | ||
| } | ||
| }, | ||
| "properties": { | ||
| "/**": { | ||
| "type": "object", | ||
| "properties": { | ||
| "ros__parameters": { | ||
| "$ref": "#/definitions/obstacle_pointcloud_based_validator" | ||
| } | ||
| }, | ||
| "required": ["ros__parameters"], | ||
| "additionalProperties": false | ||
| } | ||
| }, | ||
| "required": ["/**"], | ||
| "additionalProperties": false | ||
| } |
38 changes: 38 additions & 0 deletions
38
...ion/autoware_detected_object_validation/schema/occupancy_grid_based_validator.schema.json
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,38 @@ | ||
| { | ||
| "$schema": "http://json-schema.org/draft-07/schema#", | ||
| "title": "Parameters for Occupancy Grid Based Validator", | ||
| "type": "object", | ||
| "definitions": { | ||
| "occupancy_grid_based_validator": { | ||
| "type": "object", | ||
| "properties": { | ||
| "mean_threshold": { | ||
| "type": "number", | ||
| "default": 0.6, | ||
| "description": "The percentage threshold of allowed non-freespace." | ||
| }, | ||
| "enable_debug": { | ||
| "type": "boolean", | ||
| "default": false, | ||
| "description": "Whether to display debug images or not?" | ||
| } | ||
| }, | ||
| "required": ["mean_threshold", "enable_debug"], | ||
| "additionalProperties": false | ||
| } | ||
| }, | ||
| "properties": { | ||
| "/**": { | ||
| "type": "object", | ||
| "properties": { | ||
| "ros__parameters": { | ||
| "$ref": "#/definitions/occupancy_grid_based_validator" | ||
| } | ||
| }, | ||
| "required": ["ros__parameters"], | ||
| "additionalProperties": false | ||
| } | ||
| }, | ||
| "required": ["/**"], | ||
| "additionalProperties": false | ||
| } |
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