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perception/traffic_light_classifier/schema/traffic_light_classifier.json
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|---|---|---|
| @@ -0,0 +1,154 @@ | ||
| { | ||
| "$schema": "http://json-schema.org/draft-07/schema#", | ||
| "title": "Parameters for traffic_light_classifier", | ||
| "type": "object", | ||
| "definitions": { | ||
| "traffic_light_classifier": { | ||
| "type": "object", | ||
| "properties": { | ||
| "classifier_label_path": { | ||
| "type": "string", | ||
| "default": "labels.txt", | ||
| "description": "path to the model file." | ||
| }, | ||
| "classifier_model_path": { | ||
| "type": "string", | ||
| "default": "model.onnx", | ||
| "description": "path to the label file." | ||
| }, | ||
| "classifier_precision": { | ||
| "type": "string", | ||
| "default": "fp16", | ||
| "description": "TensorRT precision, `fp16` or `int8." | ||
| }, | ||
| "classifier_mean": { | ||
| "type": "number", | ||
| "default": 123.675, | ||
| "description": "3-channel input image mean." | ||
| }, | ||
| "classifier_std": { | ||
| "type": "number", | ||
| "default": 58.395, | ||
| "description": "3-channel input image std." | ||
| }, | ||
| "apply_softmax": { | ||
| "type": "boolean", | ||
| "description": "whether or not apply softmax." | ||
| }, | ||
| "green_min_h": { | ||
| "type": "number", | ||
| "default": 10, | ||
| "description": "the minimum hue of green color." | ||
| }, | ||
| "green_min_s": { | ||
| "type": "number", | ||
| "default": 100, | ||
| "description": "the minimum saturation of green color." | ||
| }, | ||
| "green_min_v": { | ||
| "type": "number", | ||
| "default": 150, | ||
| "description": "the minimum value (brightness) of green color." | ||
| }, | ||
| "green_max_h": { | ||
| "type": "number", | ||
| "default": 120, | ||
| "description": "the maximum hue of green color." | ||
| }, | ||
| "green_max_s": { | ||
| "type": "number", | ||
| "default": 200, | ||
| "description": "the maximum saturation of green color." | ||
| }, | ||
| "green_max_v": { | ||
| "type": "number", | ||
| "default": 255, | ||
| "description": "the maximum value (brightness) of green color." | ||
| }, | ||
| "yellow_min_h": { | ||
| "type": "number", | ||
| "default": 0, | ||
| "description": "the minimum hue of yellow color." | ||
| }, | ||
| "yellow_min_s": { | ||
| "type": "number", | ||
| "default": 80, | ||
| "description": "the minimum saturation of yellow color." | ||
| }, | ||
| "yellow_min_v": { | ||
| "type": "number", | ||
| "default": 150, | ||
| "description": "the minimum value (brightness) of yellow color." | ||
| }, | ||
| "yellow_max_h": { | ||
| "type": "number", | ||
| "default": 50, | ||
| "description": "the maximum hue of yellow color." | ||
| }, | ||
| "yellow_max_s": { | ||
| "type": "number", | ||
| "default": 200, | ||
| "description": "the maximum saturation of yellow color." | ||
| }, | ||
| "yellow_max_v": { | ||
| "type": "number", | ||
| "default": 255, | ||
| "description": "the maximum value (brightness) of yellow color." | ||
| }, | ||
| "red_min_h": { | ||
| "type": "number", | ||
| "default": 160, | ||
| "description": "the minimum hue of red color." | ||
| }, | ||
| "red_min_s": { | ||
| "type": "number", | ||
| "default": 100, | ||
| "description": "the minimum saturation of red color." | ||
| }, | ||
| "red_min_v": { | ||
| "type": "number", | ||
| "default": 150, | ||
| "description": "the minimum value (brightness) of red color." | ||
| }, | ||
| "red_max_h": { | ||
| "type": "number", | ||
| "default": 180, | ||
| "description": "the maximum hue of red color." | ||
| }, | ||
| "red_max_s": { | ||
| "type": "number", | ||
| "default": 255, | ||
| "description": "the maximum saturation of red color." | ||
| }, | ||
| "red_max_v": { | ||
| "type": "number", | ||
| "default": 255, | ||
| "description": "the maximum value (brightness) of red color." | ||
| } | ||
| }, | ||
| "required": [ | ||
| "warn_rate", | ||
| "window_size", | ||
| "timeout", | ||
| "error_rate", | ||
| "update_rate", | ||
| "topic", | ||
| "transient_local", | ||
| "best_effort", | ||
| "diag_name" | ||
| ] | ||
| } | ||
| }, | ||
| "properties": { | ||
| "/**": { | ||
| "type": "object", | ||
| "properties": { | ||
| "ros__parameters": { | ||
| "$ref": "#/definitions/traffic_light_classifier" | ||
| } | ||
| }, | ||
| "required": ["ros__parameters"] | ||
| } | ||
| }, | ||
| "required": ["/**"] | ||
| } |
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