From 130791e7874ab66c37a1a7aa4e448c4b1394cf7c Mon Sep 17 00:00:00 2001
From: ktro2828 <kotaro.uetake@tier4.jp>
Date: Thu, 28 Sep 2023 14:36:10 +0900
Subject: [PATCH] refactor: rework parameters for `roi_pointcloud_fusion`

Signed-off-by: ktro2828 <kotaro.uetake@tier4.jp>
---
 .../config/roi_pointcloud_fusion.param.yaml   |  5 +++
 .../launch/roi_pointcloud_fusion.launch.xml   |  8 +---
 .../schema/roi_pointcloud_fusion.schema.json  | 41 +++++++++++++++++++
 3 files changed, 48 insertions(+), 6 deletions(-)
 create mode 100644 perception/image_projection_based_fusion/config/roi_pointcloud_fusion.param.yaml
 create mode 100644 perception/image_projection_based_fusion/schema/roi_pointcloud_fusion.schema.json

diff --git a/perception/image_projection_based_fusion/config/roi_pointcloud_fusion.param.yaml b/perception/image_projection_based_fusion/config/roi_pointcloud_fusion.param.yaml
new file mode 100644
index 0000000000000..5b86b8e81d1aa
--- /dev/null
+++ b/perception/image_projection_based_fusion/config/roi_pointcloud_fusion.param.yaml
@@ -0,0 +1,5 @@
+/**:
+  ros__parameters:
+    fuse_unknown_only: true
+    min_cluster_size: 2
+    cluster_2d_tolerance: 0.5
diff --git a/perception/image_projection_based_fusion/launch/roi_pointcloud_fusion.launch.xml b/perception/image_projection_based_fusion/launch/roi_pointcloud_fusion.launch.xml
index 181f4ccb88320..e20c342a14a0a 100644
--- a/perception/image_projection_based_fusion/launch/roi_pointcloud_fusion.launch.xml
+++ b/perception/image_projection_based_fusion/launch/roi_pointcloud_fusion.launch.xml
@@ -1,8 +1,5 @@
 <launch>
   <arg name="input/rois_number" default="6"/>
-  <arg name="cluster_2d_tolerance" default="0.5"/>
-  <arg name="min_cluster_size" default="2"/>
-  <arg name="fuse_unknown_only" default="true"/>
   <arg name="input/rois0" default="rois0"/>
   <arg name="input/camera_info0" default="/camera_info0"/>
   <arg name="input/rois1" default="rois1"/>
@@ -23,6 +20,7 @@
   <arg name="output/pointcloud" default="roi_pointcloud_fusion/output/pointcloud"/>
   <arg name="output_clusters" default="output_clusters"/>
   <arg name="debug/clusters" default="roi_pointcloud_fusion/debug/clusters"/>
+  <arg name="param_path" default="$(find-pkg-share image_projection_based_fusion)/config/roi_pointcloud_fusion.param.yaml"/>
   <arg name="sync_param_path" default="$(find-pkg-share image_projection_based_fusion)/config/roi_sync.param.yaml"/>
 
   <!-- for eval variable-->
@@ -38,9 +36,7 @@
   <group>
     <node pkg="image_projection_based_fusion" exec="roi_pointcloud_fusion_node" name="roi_pointcloud_fusion" output="screen">
       <param name="rois_number" value="$(var input/rois_number)"/>
-      <param name="cluster_2d_tolerance" value="$(var cluster_2d_tolerance)"/>
-      <param name="min_cluster_size" value="$(var min_cluster_size)"/>
-      <param name="fuse_unknown_only" value="$(var fuse_unknown_only)"/>
+      <param from="(var param_path)"/>
       <param from="$(var sync_param_path)"/>
       <remap from="input" to="$(var input/pointcloud)"/>
       <remap from="output" to="$(var output/pointcloud)"/>
diff --git a/perception/image_projection_based_fusion/schema/roi_pointcloud_fusion.schema.json b/perception/image_projection_based_fusion/schema/roi_pointcloud_fusion.schema.json
new file mode 100644
index 0000000000000..f39ef257ea789
--- /dev/null
+++ b/perception/image_projection_based_fusion/schema/roi_pointcloud_fusion.schema.json
@@ -0,0 +1,41 @@
+{
+  "$schema": "http://json-schema.org/draft-07/schema#",
+  "title": "Parameters for RoI PointCloud Fusion Node",
+  "type": "object",
+  "definitions": {
+    "roi_pointcloud_fusion": {
+      "type": "object",
+      "properties": {
+        "fuse_unknown_only": {
+          "type": "boolean",
+          "description": "Whether to fuse only UNKNOWN clusters.",
+          "default": true
+        },
+        "min_cluster_size": {
+          "type": "integer",
+          "description": "The minimum number of points that a cluster must contain to be considered as valid.",
+          "default": 2
+        },
+        "cluster_2d_tolerance": {
+          "type": "number",
+          "description": "A cluster tolerance measured in radial direction [m]",
+          "default": 0.5,
+          "exclusiveMinimum": 0.0
+        }
+      },
+      "required": ["fuse_unknown_only", "min_cluster_size", "cluster_2d_tolerance"]
+    }
+  },
+  "properties": {
+    "/**": {
+      "type": "object",
+      "properties": {
+        "ros__parameters": {
+          "$ref": "#/definitions/roi_pointcloud_fusion"
+        }
+      },
+      "required": ["ros__parameters"]
+    }
+  },
+  "required": ["/**"]
+}