-
Notifications
You must be signed in to change notification settings - Fork 668
Commit
This commit does not belong to any branch on this repository, and may belong to a fork outside of the repository.
Merge branch 'main' into chore/tracking_object_merger/use_config
- Loading branch information
Showing
31 changed files
with
802 additions
and
194 deletions.
There are no files selected for viewing
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
56 changes: 56 additions & 0 deletions
56
localization/localization_error_monitor/schema/localization_error_monitor.schema.json
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,56 @@ | ||
| { | ||
| "$schema": "http://json-schema.org/draft-07/schema#", | ||
| "title": "Parameters for Localization Error Monitor node", | ||
| "type": "object", | ||
| "definitions": { | ||
| "localization_error_monitor": { | ||
| "type": "object", | ||
| "properties": { | ||
| "scale": { | ||
| "type": "number", | ||
| "default": 3.0, | ||
| "description": "scale factor for monitored values" | ||
| }, | ||
| "error_ellipse_size": { | ||
| "type": "number", | ||
| "default": 1.5, | ||
| "description": "error threshold for long radius of confidence ellipse [m]" | ||
| }, | ||
| "warn_ellipse_size": { | ||
| "type": "number", | ||
| "default": 1.2, | ||
| "description": "warning threshold for long radius of confidence ellipse [m]" | ||
| }, | ||
| "error_ellipse_size_lateral_direction": { | ||
| "type": "number", | ||
| "default": 0.3, | ||
| "description": "error threshold for size of confidence ellipse along lateral direction [m]" | ||
| }, | ||
| "warn_ellipse_size_lateral_direction": { | ||
| "type": "number", | ||
| "default": 0.25, | ||
| "description": "warning threshold for size of confidence ellipse along lateral direction [m]" | ||
| } | ||
| }, | ||
| "required": [ | ||
| "scale", | ||
| "error_ellipse_size", | ||
| "warn_ellipse_size", | ||
| "error_ellipse_size_lateral_direction", | ||
| "warn_ellipse_size_lateral_direction" | ||
| ] | ||
| } | ||
| }, | ||
| "properties": { | ||
| "/**": { | ||
| "type": "object", | ||
| "properties": { | ||
| "ros__parameters": { | ||
| "$ref": "#/definitions/localization_error_monitor" | ||
| } | ||
| }, | ||
| "required": ["ros__parameters"] | ||
| } | ||
| }, | ||
| "required": ["/**"] | ||
| } |
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
43 changes: 43 additions & 0 deletions
43
localization/yabloc/yabloc_common/schema/ground_server.schema.json
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,43 @@ | ||
| { | ||
| "$schema": "http://json-schema.org/draft-07/schema#", | ||
| "title": "Parameters for ground_server", | ||
| "type": "object", | ||
| "definitions": { | ||
| "ground_server": { | ||
| "type": "object", | ||
| "properties": { | ||
| "force_zero_tilt": { | ||
| "type": "boolean", | ||
| "description": "if true, the tilt is always determined to be horizontal", | ||
| "default": false | ||
| }, | ||
| "K": { | ||
| "type": "number", | ||
| "description": "the number of neighbors for ground search on a map", | ||
| "default": 50 | ||
| }, | ||
| "R": { | ||
| "type": "number", | ||
| "description": "radius for ground search on a map [m]", | ||
| "default": 10 | ||
| } | ||
| }, | ||
| "required": ["force_zero_tilt", "K", "R"], | ||
| "additionalProperties": false | ||
| } | ||
| }, | ||
| "properties": { | ||
| "/**": { | ||
| "type": "object", | ||
| "properties": { | ||
| "ros__parameters": { | ||
| "$ref": "#/definitions/ground_server" | ||
| } | ||
| }, | ||
| "required": ["ros__parameters"], | ||
| "additionalProperties": false | ||
| } | ||
| }, | ||
| "required": ["/**"], | ||
| "additionalProperties": false | ||
| } |
51 changes: 51 additions & 0 deletions
51
localization/yabloc/yabloc_common/schema/ll2_decomposer.schema.json
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,51 @@ | ||
| { | ||
| "$schema": "http://json-schema.org/draft-07/schema#", | ||
| "title": "Parameters for ll2_decomposer", | ||
| "type": "object", | ||
| "definitions": { | ||
| "ll2_decomposer": { | ||
| "type": "object", | ||
| "properties": { | ||
| "road_marking_labels": { | ||
| "type": "array", | ||
| "description": "line string types that indicating road surface markings in lanelet2", | ||
| "default": [ | ||
| "cross_walk", | ||
| "zebra_marking", | ||
| "line_thin", | ||
| "line_thick", | ||
| "pedestrian_marking", | ||
| "stop_line", | ||
| "road_border" | ||
| ] | ||
| }, | ||
| "sign_board_labels": { | ||
| "type": "array", | ||
| "description": "line string types that indicating traffic sign boards in lanelet2", | ||
| "default": ["sign-board"] | ||
| }, | ||
| "bounding_box_labels": { | ||
| "type": "array", | ||
| "description": "line string types that indicating not mapped areas in lanelet2", | ||
| "default": ["none"] | ||
| } | ||
| }, | ||
| "required": ["road_marking_labels", "sign_board_labels", "bounding_box_labels"], | ||
| "additionalProperties": false | ||
| } | ||
| }, | ||
| "properties": { | ||
| "/**": { | ||
| "type": "object", | ||
| "properties": { | ||
| "ros__parameters": { | ||
| "$ref": "#/definitions/ll2_decomposer" | ||
| } | ||
| }, | ||
| "required": ["ros__parameters"], | ||
| "additionalProperties": false | ||
| } | ||
| }, | ||
| "required": ["/**"], | ||
| "additionalProperties": false | ||
| } |
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
71 changes: 71 additions & 0 deletions
71
localization/yabloc/yabloc_image_processing/schema/graph_segment.schema.json
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,71 @@ | ||
| { | ||
| "$schema": "http://json-schema.org/draft-07/schema#", | ||
| "title": "Parameters for graph_segment", | ||
| "type": "object", | ||
| "definitions": { | ||
| "graph_segment": { | ||
| "type": "object", | ||
| "properties": { | ||
| "target_height_ratio": { | ||
| "type": "number", | ||
| "description": "height on the image to retrieve the candidate road surface", | ||
| "default": 0.85 | ||
| }, | ||
| "target_candidate_box_width": { | ||
| "type": "number", | ||
| "description": "size of the square area to search for candidate road surfaces", | ||
| "default": 15 | ||
| }, | ||
| "pickup_additional_graph_segment": { | ||
| "type": "boolean", | ||
| "description": "if this is true, additional regions of similar color are retrieved", | ||
| "default": true | ||
| }, | ||
| "similarity_score_threshold": { | ||
| "type": "number", | ||
| "description": "threshold for picking up additional areas", | ||
| "default": 0.8 | ||
| }, | ||
| "sigma": { | ||
| "type": "number", | ||
| "description": "parameter for cv::ximgproc::segmentation::GraphSegmentation", | ||
| "default": 0.5 | ||
| }, | ||
| "k": { | ||
| "type": "number", | ||
| "description": "parameter for cv::ximgproc::segmentation::GraphSegmentation", | ||
| "default": 300.0 | ||
| }, | ||
| "min_size": { | ||
| "type": "number", | ||
| "description": "parameter for cv::ximgproc::segmentation::GraphSegmentation", | ||
| "default": 100.0 | ||
| } | ||
| }, | ||
| "required": [ | ||
| "target_height_ratio", | ||
| "target_candidate_box_width", | ||
| "pickup_additional_graph_segment", | ||
| "similarity_score_threshold", | ||
| "sigma", | ||
| "k", | ||
| "min_size" | ||
| ], | ||
| "additionalProperties": false | ||
| } | ||
| }, | ||
| "properties": { | ||
| "/**": { | ||
| "type": "object", | ||
| "properties": { | ||
| "ros__parameters": { | ||
| "$ref": "#/definitions/graph_segment" | ||
| } | ||
| }, | ||
| "required": ["ros__parameters"], | ||
| "additionalProperties": false | ||
| } | ||
| }, | ||
| "required": ["/**"], | ||
| "additionalProperties": false | ||
| } |
65 changes: 65 additions & 0 deletions
65
localization/yabloc/yabloc_image_processing/schema/segment_filter.schema.json
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,65 @@ | ||
| { | ||
| "$schema": "http://json-schema.org/draft-07/schema#", | ||
| "title": "Parameters for segment_filter", | ||
| "type": "object", | ||
| "definitions": { | ||
| "segment_filter": { | ||
| "type": "object", | ||
| "properties": { | ||
| "min_segment_length": { | ||
| "type": "number", | ||
| "description": "min length threshold (if it is negative, it is unlimited)", | ||
| "default": 1.5 | ||
| }, | ||
| "max_segment_distance": { | ||
| "type": "number", | ||
| "description": "max distance threshold (if it is negative, it is unlimited)", | ||
| "default": 30.0 | ||
| }, | ||
| "max_lateral_distance": { | ||
| "type": "number", | ||
| "description": "max lateral distance threshold (if it is negative, it is unlimited)", | ||
| "default": 10.0 | ||
| }, | ||
| "publish_image_with_segment_for_debug": { | ||
| "type": "boolean", | ||
| "description": "toggle whether to publish the filtered line segment for debug", | ||
| "default": true | ||
| }, | ||
| "max_range": { | ||
| "type": "number", | ||
| "description": "range of debug projection visualization", | ||
| "default": 20.0 | ||
| }, | ||
| "image_size": { | ||
| "type": "number", | ||
| "description": "image size of debug projection visualization", | ||
| "default": 800 | ||
| } | ||
| }, | ||
| "required": [ | ||
| "min_segment_length", | ||
| "max_segment_distance", | ||
| "max_lateral_distance", | ||
| "publish_image_with_segment_for_debug", | ||
| "max_range", | ||
| "image_size" | ||
| ], | ||
| "additionalProperties": false | ||
| } | ||
| }, | ||
| "properties": { | ||
| "/**": { | ||
| "type": "object", | ||
| "properties": { | ||
| "ros__parameters": { | ||
| "$ref": "#/definitions/segment_filter" | ||
| } | ||
| }, | ||
| "required": ["ros__parameters"], | ||
| "additionalProperties": false | ||
| } | ||
| }, | ||
| "required": ["/**"], | ||
| "additionalProperties": false | ||
| } |
Oops, something went wrong.