chore(yabloc): rework parameters (#6170)

* introduce json schema for ground_server Signed-off-by: Kento Yabuuchi <[email protected]> * introduce json schema for ll2_decomposer Signed-off-by: Kento Yabuuchi <[email protected]> * style(pre-commit): autofix * fix json in yabloc_common Signed-off-by: Kento Yabuuchi <[email protected]> * introduce json schema for graph_segment Signed-off-by: Kento Yabuuchi <[email protected]> * introduce json schema for segment_filter Signed-off-by: Kento Yabuuchi <[email protected]> * fix yabloc_common schema.json Signed-off-by: Kento Yabuuchi <[email protected]> * introduce json schema for undistort Signed-off-by: Kento Yabuuchi <[email protected]> * style(pre-commit): autofix * Revert "introduce json schema for ground_server" This reverts commit 33d3e60. * Revert "introduce json schema for graph_segment" This reverts commit 00ae417. Signed-off-by: Kento Yabuuchi <[email protected]> * style(pre-commit): autofix * introduce json schema for yabloc_monitor Signed-off-by: Kento Yabuuchi <[email protected]> * introduce json schema for yabloc_particle_filter Signed-off-by: Kento Yabuuchi <[email protected]> * introduce json schema for yabloc_pose_initializer Signed-off-by: Kento Yabuuchi <[email protected]> * apply pre-commit Signed-off-by: Kento Yabuuchi <[email protected]> * fix revert conflict Signed-off-by: Kento Yabuuchi <[email protected]> * style(pre-commit): autofix --------- Signed-off-by: Kento Yabuuchi <[email protected]> Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>
autowarefoundation · Jan 25, 2024 · f0b8555 · f0b8555
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diff --git a/localization/yabloc/yabloc_common/README.md b/localization/yabloc/yabloc_common/README.md
@@ -63,8 +63,4 @@ This node extracts the elements related to the road surface markings and yabloc
 
 ### Parameters
 
-| Name                  | Type             | Description                                                            |
-| --------------------- | ---------------- | ---------------------------------------------------------------------- |
-| `road_marking_labels` | vector\<string\> | This label is used to extract the road surface markings from lanelet2. |
-| `sign_board_labels`   | vector\<string\> | This label is used to extract the traffic sign boards from lanelet2.   |
-| `bounding_box_labels` | vector\<string\> | This label is used to extract the bounding boxes from lanelet2.        |
+{{ json_to_markdown("localization/yabloc/yabloc_common/schema/ll2_decomposer.schema.json") }}
diff --git a/localization/yabloc/yabloc_common/schema/ground_server.schema.json b/localization/yabloc/yabloc_common/schema/ground_server.schema.json
@@ -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
+}
diff --git a/localization/yabloc/yabloc_common/schema/ll2_decomposer.schema.json b/localization/yabloc/yabloc_common/schema/ll2_decomposer.schema.json
@@ -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
+}
diff --git a/localization/yabloc/yabloc_image_processing/README.md b/localization/yabloc/yabloc_image_processing/README.md
@@ -89,14 +89,7 @@ This is a node that integrates the results of graph_segment and lsd to extract r
 
 ### Parameters
 
-| Name                                   | Type   | Description                                                         |
-| -------------------------------------- | ------ | ------------------------------------------------------------------- |
-| `min_segment_length`                   | double | min length threshold (if it is negative, it is unlimited)           |
-| `max_segment_distance`                 | double | max distance threshold (if it is negative, it is unlimited)         |
-| `max_lateral_distance`                 | double | max lateral distance threshold (if it is negative, it is unlimited) |
-| `publish_image_with_segment_for_debug` | bool   | toggle whether to publish the filtered line segment for debug       |
-| `max_range`                            | double | range of debug projection visualization                             |
-| `image_size`                           | int    | image size of debug projection visualization                        |
+{{ json_to_markdown("localization/yabloc/yabloc_common/schema/segment_filter.schema.json") }}
 
 ## undistort
 
@@ -127,11 +120,7 @@ This is to avoid redundant decompression within Autoware.
 
 ### Parameters
 
-| Name                | Type   | Description                                                                                    |
-| ------------------- | ------ | ---------------------------------------------------------------------------------------------- |
-| `use_sensor_qos`    | bool   | where to use sensor qos or not                                                                 |
-| `width`             | int    | resized image width size                                                                       |
-| `override_frame_id` | string | value for overriding the camera's frame_id. if blank, frame_id of static_tf is not overwritten |
+{{ json_to_markdown("localization/yabloc/yabloc_common/schema/undistort.schema.json") }}
 
 #### about tf_static overriding
 

diff --git a/localization/yabloc/yabloc_image_processing/schema/graph_segment.schema.json b/localization/yabloc/yabloc_image_processing/schema/graph_segment.schema.json
@@ -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
+}
diff --git a/localization/yabloc/yabloc_image_processing/schema/segment_filter.schema.json b/localization/yabloc/yabloc_image_processing/schema/segment_filter.schema.json
@@ -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
+}
diff --git a/localization/yabloc/yabloc_image_processing/schema/undistort.schema.json b/localization/yabloc/yabloc_image_processing/schema/undistort.schema.json
@@ -0,0 +1,43 @@
+{
+  "$schema": "http://json-schema.org/draft-07/schema#",
+  "title": "Parameters for undistort",
+  "type": "object",
+  "definitions": {
+    "undistort": {
+      "type": "object",
+      "properties": {
+        "use_sensor_qos": {
+          "type": "boolean",
+          "description": "whether to use sensor qos or not",
+          "default": true
+        },
+        "width": {
+          "type": "number",
+          "description": "resized image width size",
+          "default": 800
+        },
+        "override_frame_id": {
+          "type": "string",
+          "description": "value for overriding the camera's frame_id. if blank, frame_id of static_tf is not overwritten",
+          "default": ""
+        }
+      },
+      "required": ["use_sensor_qos", "width", "override_frame_id"],
+      "additionalProperties": false
+    }
+  },
+  "properties": {
+    "/**": {
+      "type": "object",
+      "properties": {
+        "ros__parameters": {
+          "$ref": "#/definitions/undistort"
+        }
+      },
+      "required": ["ros__parameters"],
+      "additionalProperties": false
+    }
+  },
+  "required": ["/**"],
+  "additionalProperties": false
+}
diff --git a/localization/yabloc/yabloc_monitor/README.md b/localization/yabloc/yabloc_monitor/README.md
@@ -25,3 +25,7 @@ To be added,
 | Name           | Type                              | Description         |
 | -------------- | --------------------------------- | ------------------- |
 | `/diagnostics` | `diagnostic_msgs/DiagnosticArray` | Diagnostics outputs |
+
+### Parameters
+
+{{ json_to_markdown("localization/yabloc/yabloc_monitor/schema/yabloc_monitor.schema.json") }}
diff --git a/localization/yabloc/yabloc_monitor/schema/yabloc_monitor.schema.json b/localization/yabloc/yabloc_monitor/schema/yabloc_monitor.schema.json
@@ -0,0 +1,33 @@
+{
+  "$schema": "http://json-schema.org/draft-07/schema#",
+  "title": "Parameters for yabloc_monitor",
+  "type": "object",
+  "definitions": {
+    "yabloc_monitor": {
+      "type": "object",
+      "properties": {
+        "availability/timestamp_tolerance": {
+          "type": "number",
+          "description": "tolerable time difference between current time and latest estimated pose",
+          "default": 1.0
+        }
+      },
+      "required": ["availability/timestamp_tolerance"],
+      "additionalProperties": false
+    }
+  },
+  "properties": {
+    "/**": {
+      "type": "object",
+      "properties": {
+        "ros__parameters": {
+          "$ref": "#/definitions/yabloc_monitor"
+        }
+      },
+      "required": ["ros__parameters"],
+      "additionalProperties": false
+    }
+  },
+  "required": ["/**"],
+  "additionalProperties": false
+}