refactor: add JSON Schema and remove default values in `declare_param…

…eter()`

Signed-off-by: ktro2828 <[email protected]>

perception/image_projection_based_fusion/schema/pointpainting.schema.json

@@ -0,0 +1,152 @@
+{
+  "$schema": "http://json-schema.org/draft-07/schema#",
+  "title": "Parameters for Point Painting Fusion Node",
+  "type": "object",
+  "definitions": {
+    "pointpainting": {
+      "type": "object",
+      "properties": {
+        "model_params": {
+          "type": "object",
+          "description": "Parameters for model configuration.",
+          "properties": {
+            "class_names": {
+              "type": "array",
+              "description": "An array of class names will be predicted.",
+              "default": ["CAR", "TRUCK", "BUS", "BICYCLE", "PEDESTRIAN"],
+              "uniqueItems": true
+            },
+            "paint_class_names": {
+              "type": "array",
+              "description": "An array of class names will be painted by PointPainting",
+              "default": ["CAR", "BICYCLE", "PEDESTRIAN"],
+              "uniqueItems": true
+            },
+            "point_feature_size": {
+              "type": "integer",
+              "description": "A number of channels of point feature layer.",
+              "default": 7
+            },
+            "max_voxel_size": {
+              "type": "integer",
+              "description": "A maximum size of voxel grid.",
+              "default": 40000
+            },
+            "point_cloud_range": {
+              "type": "array",
+              "description": "An array of distance ranges of each class, this must have same length with `class_names`.",
+              "default": [-121.6, -76.8, -3.0, 121.6, 76.8, 5.0]
+            },
+            "voxel_size": {
+              "type": "array",
+              "description": "An array of voxel grid sizes for PointPainting, this must have same length with `paint_class_names`.",
+              "default": [0.32, 0.32, 8.0]
+            },
+            "down_sample_factor": {
+              "type": "integer",
+              "description": "A scale factor of downsampling points",
+              "default": 1,
+              "minimum": 1
+            },
+            "encoder_in_feature_size": {
+              "type": "integer",
+              "description": "A size of encoder input feature channels.",
+              "default": 12
+            },
+            "yaw_norm_thresholds": {
+              "type": "array",
+              "description": "An array of distance threshold values of norm of yaw [rad].",
+              "default": [0.3, 0.3, 0.3, 0.3, 0.0],
+              "minimum": 0.0,
+              "maximum": 1.0
+            },
+            "has_twist": {
+              "type": "boolean",
+              "description": "Indicates whether the model outputs twist value.",
+              "default": false
+            }
+          }
+        },
+        "densification_params": {
+          "type": "object",
+          "description": "Parameters for pointcloud densification.",
+          "properties": {
+            "world_frame_id": {
+              "type": "string",
+              "description": "A name of frame id where world coordinates system is defined with respect to.",
+              "default": "map"
+            },
+            "num_past_frames": {
+              "type": "integer",
+              "description": "A number of past frames to be considered as same input frame.",
+              "default": 0,
+              "minimum": 0
+            }
+          }
+        },
+        "post_process_params": {
+          "type": "object",
+          "properties": {
+            "score_threshold": {
+              "type": "number",
+              "description": "A threshold value of existence probability score, all of objects with score less than this threshold are ignored.",
+              "default": 0.4,
+              "minimum": 0.0,
+              "maximum": 1.0
+            },
+            "circle_nms_dist_threshold": {
+              "type": "number",
+              "description": "",
+              "default": 0.3,
+              "minimum": 0.0,
+              "maximum": 1.0
+            },
+            "iou_nms_target_class_names": {
+              "type": "array",
+              "description": "An array of class names to be target in NMS.",
+              "default": ["CAR"],
+              "uniqueItems": true
+            },
+            "iou_search_distance_2d": {
+              "type": "number",
+              "description": "A maximum distance value to search the nearest objects.",
+              "default": 10.0,
+              "minimum": 0.0
+            },
+            "iou_nms_threshold": {
+              "type": "number",
+              "description": "A threshold value of NMS using IoU score.",
+              "default": 0.1,
+              "minimum": 0.0,
+              "maximum": 1.0
+            }
+          }
+        },
+        "omp_params": {
+          "type": "object",
+          "properties": {
+            "num_threads": {
+              "type": "integer",
+              "description": "The number of threads that is set to the environment variable OMP_NUM_THREADS.",
+              "default": 1,
+              "minimum": 1
+            }
+          }
+        }
+      },
+      "required": ["model_params", "densification_params", "post_process_params", "omp_params"]
+    }
+  },
+  "properties": {
+    "/**": {
+      "type": "object",
+      "properties": {
+        "ros__parameters": {
+          "$ref": "#/definitions/pointpainting"
+        }
+      },
+      "required": ["ros__parameters"]
+    }
+  },
+  "required": ["/**"]
+}

perception/image_projection_based_fusion/schema/roi_cluster_fusion.schema.json

@@ -0,0 +1,92 @@
+{
+  "$schema": "http://json-schema.org/draft-07/schema#",
+  "title": "Parameters for RoI Cluster Fusion Node",
+  "type": "object",
+  "definitions": {
+    "roi_cluster_fusion": {
+      "type": "object",
+      "properties": {
+        "use_iou": {
+          "type": "boolean",
+          "description": "If this parameter is true, calculate the common IoU score.",
+          "default": false
+        },
+        "use_iou_x": {
+          "type": "boolean",
+          "description": "If this parameter is true, compute the IoU score in the x-direction",
+          "default": true
+        },
+        "use_iou_y": {
+          "type": "boolean",
+          "description": "If this parameter is true, calculate the IoU score in the y-direction.",
+          "default": false
+        },
+        "use_cluster_semantic_type": {
+          "type": "boolean",
+          "description": "If this parameter is false, label of cluster objects will be reset to UNKNOWN.",
+          "default": false
+        },
+        "only_allow_inside_cluster": {
+          "type": "boolean",
+          "description": "If this parameter is true, only clusters in which all their points are inside the RoI can be assigned to the RoI.",
+          "default": true
+        },
+        "roi_scale_factor": {
+          "type": "number",
+          "description": "A scale factor for resizing RoI while checking if cluster points are inside the RoI.",
+          "default": 1.1,
+          "minimum": 1.0,
+          "maximum": 2.0
+        },
+        "iou_threshold": {
+          "type": "number",
+          "description": "An IoU score threshold. Note that the total IoU score is the sum of the IoU scores that are set to true in use_iou, use_iou_x and use_iou_y.",
+          "default": 0.3,
+          "minimum": 0.0
+        },
+        "unknown_iou_threshold": {
+          "type": "number",
+          "description": "A threshold value of IoU score for objects labeled UNKNOWN.",
+          "default": 0.1,
+          "minimum": 0.0,
+          "maximum": 1.0
+        },
+        "remove_unknown": {
+          "type": "boolean",
+          "description": "If this parameter is true, all of objects labeled UNKNOWN will be removed in post-process.",
+          "default": false
+        },
+        "trust_distance": {
+          "type": "number",
+          "description": "A distance value to filtering out objects with its distance.",
+          "default": 100.0,
+          "minimum": 0.0
+        }
+      },
+      "required": [
+        "use_iou",
+        "use_iou_x",
+        "use_iou_y",
+        "use_cluster_semantic_type",
+        "only_allow_inside_cluster",
+        "roi_scale_factor",
+        "iou_threshold",
+        "unknown_iou_threshold",
+        "remove_unknown",
+        "trust_distance"
+      ]
+    }
+  },
+  "properties": {
+    "/**": {
+      "type": "object",
+      "properties": {
+        "ros__parameters": {
+          "$ref": "#/definitions/roi_cluster_fusion"
+        }
+      },
+      "required": ["ros__parameters"]
+    }
+  },
+  "required": ["/**"]
+}

perception/image_projection_based_fusion/schema/roi_detected_object_fusion.schema.json

@@ -0,0 +1,70 @@
+{
+  "$schema": "http://json-schema.org/draft-07/schema#",
+  "title": "Parameters for RoI Detected Object Fusion Node",
+  "type": "object",
+  "definitions": {
+    "roi_detected_object_fusion": {
+      "type": "object",
+      "properties": {
+        "passthrough_lower_bound_probability_thresholds": {
+          "type": "array",
+          "description": "An array of object probability thresholds. The objects that have higher probability than their respective thresholds are kept.",
+          "default": [0.35, 0.35, 0.35, 0.35, 0.35, 0.35, 0.35, 0.5]
+        },
+        "trust_distances": {
+          "type": "array",
+          "description": "An array of object distances thresholds. The objects that are closer than their respective thresholds kept.",
+          "default": [50.0, 100.0, 100.0, 100.0, 100.0, 50.0, 50.0, 50.0]
+        },
+        "min_iou_threshold": {
+          "type": "number",
+          "description": "An Iou threshold",
+          "default": 0.5,
+          "minimum": 0.0,
+          "maximum": 1.0
+        },
+        "roi_probability_threshold": {
+          "type": "number",
+          "description": "A object probability threshold.",
+          "default": 0.5,
+          "minimum": 0.0,
+          "maximum": 1.0
+        },
+        "use_roi_probability": {
+          "type": "boolean",
+          "description": "If this parameter is true, the objects are filtered out with their RoI probabilities.",
+          "default": false
+        },
+        "can_assign_matrix": {
+          "type": "array",
+          "description": "An NxN matrix, where N represents the number of classes. A value 1 indicates that it is assignable, while a value of 0 indicates not.",
+          "default": [
+            1, 0, 0, 0, 0, 0, 0, 0, 0, 1, 1, 1, 1, 0, 0, 0, 0, 1, 1, 1, 1, 0, 0, 0, 0, 1, 1, 1, 1,
+            0, 0, 0, 0, 1, 1, 1, 1, 0, 0, 0, 0, 0, 0, 0, 0, 1, 1, 1, 0, 0, 0, 0, 0, 1, 1, 1, 0, 0,
+            0, 0, 0, 1, 1, 1
+          ]
+        }
+      },
+      "required": [
+        "passthrough_lower_bound_probability_thresholds",
+        "trust_distances",
+        "min_iou_threshold",
+        "roi_probability_threshold",
+        "use_roi_probability",
+        "can_assign_matrix"
+      ]
+    }
+  },
+  "properties": {
+    "/**": {
+      "type": "object",
+      "properties": {
+        "ros__parameters": {
+          "$ref": "#/definitions/roi_detected_object_fusion"
+        }
+      },
+      "required": ["ros__parameters"]
+    }
+  },
+  "required": ["/**"]
+}

perception/image_projection_based_fusion/schema/roi_sync.schema.json

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+{
+  "$schema": "http://json-schema.org/draft-07/schema#",
+  "title": "Parameters for Synchronization of RoI Fusion Nodes",
+  "type": "object",
+  "definitions": {
+    "roi_sync": {
+      "type": "object",
+      "properties": {
+        "input_offset_ms": {
+          "type": "array",
+          "description": "An array of timestamp offsets for each camera [ms].",
+          "default": [61.67, 111.67, 45.0, 28.33, 78.33, 95.0]
+        },
+        "timeout_ms": {
+          "type": "number",
+          "description": "A timeout value can be assigned within a single frame [ms].",
+          "default": 70.0,
+          "minimum": 1.0,
+          "maximum": 100.0
+        },
+        "match_threshold_ms": {
+          "type": "number",
+          "description": "A maximum threshold value to synchronize RoIs from multiple cameras [ms].",
+          "default": 50.0,
+          "minimum": 0.0,
+          "maximum": 100.0
+        }
+      },
+      "required": ["input_offset_ms", "timeout_ms", "match_threshold_ms"]
+    }
+  },
+  "properties": {
+    "/**": {
+      "type": "object",
+      "properties": {
+        "ros__parameters": {
+          "$ref": "#/definitions/roi_sync"
+        }
+      },
+      "required": ["ros__parameters"]
+    }
+  },
+  "required": ["/**"]
+}