forked from autowarefoundation/autoware.universe
-
Notifications
You must be signed in to change notification settings - Fork 0
Commit
This commit does not belong to any branch on this repository, and may belong to a fork outside of the repository.
refactor(detected_object_validation): rework parameters (autowarefoun…
…dation#7750) * refactor(detected_object_validation): rework parameters Signed-off-by: batuhanbeytekin <[email protected]> Signed-off-by: Batuhan Beytekin <[email protected]> * style(pre-commit): autofix Signed-off-by: Batuhan Beytekin <[email protected]> * Update perception/detected_object_validation/schema/object_lanelet_filter.schema.json Co-authored-by: badai nguyen <[email protected]> Signed-off-by: batuhanbeytekin <[email protected]> Signed-off-by: Batuhan Beytekin <[email protected]> * Update perception/detected_object_validation/schema/object_position_filter.schema.json Co-authored-by: badai nguyen <[email protected]> Signed-off-by: batuhanbeytekin <[email protected]> Signed-off-by: Batuhan Beytekin <[email protected]> * refactor(detected_object_validation): rework parameters Signed-off-by: batuhanbeytekin <[email protected]> Signed-off-by: Batuhan Beytekin <[email protected]> * refactor(detected_object_validation): rework parameters Signed-off-by: batuhanbeytekin <[email protected]> Signed-off-by: Batuhan Beytekin <[email protected]> * refactor(detected_object_validation): rework parameters Signed-off-by: batuhanbeytekin <[email protected]> Signed-off-by: Batuhan Beytekin <[email protected]> * style(pre-commit): autofix Signed-off-by: Batuhan Beytekin <[email protected]> * refactor(detected_object_validation): rework parameters Signed-off-by: batuhanbeytekin <[email protected]> Signed-off-by: Batuhan Beytekin <[email protected]> * refactor(detected_object_validation): rework parameters Signed-off-by: batuhanbeytekin <[email protected]> Signed-off-by: Batuhan Beytekin <[email protected]> * style(pre-commit): autofix --------- Signed-off-by: batuhanbeytekin <[email protected]> Signed-off-by: Batuhan Beytekin <[email protected]> Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>
- Loading branch information
1 parent
fc283c5
commit 6465aaf
Showing
10 changed files
with
375 additions
and
23 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
1 change: 1 addition & 0 deletions
1
...tion/autoware_detected_object_validation/config/occupancy_grid_based_validator.param.yaml
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 |
|---|---|---|
| @@ -1,3 +1,4 @@ | ||
| /**: | ||
| ros__parameters: | ||
| mean_threshold: 0.6 | ||
| enable_debug: false |
121 changes: 121 additions & 0 deletions
121
perception/autoware_detected_object_validation/schema/object_lanelet_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 +1,121 @@ | ||
| { | ||
| "$schema": "http://json-schema.org/draft-07/schema#", | ||
| "title": "Parameters for Object Lanelet Filter", | ||
| "type": "object", | ||
| "definitions": { | ||
| "object_lanelet_filter": { | ||
| "type": "object", | ||
| "properties": { | ||
| "filter_target_label": { | ||
| "type": "object", | ||
| "properties": { | ||
| "UNKNOWN": { | ||
| "type": "boolean", | ||
| "default": true, | ||
| "description": "If true, unknown objects are filtered." | ||
| }, | ||
| "CAR": { | ||
| "type": "boolean", | ||
| "default": false, | ||
| "description": "If true, car objects are filtered." | ||
| }, | ||
| "TRUCK": { | ||
| "type": "boolean", | ||
| "default": false, | ||
| "description": "If true, truck objects are filtered." | ||
| }, | ||
| "BUS": { | ||
| "type": "boolean", | ||
| "default": false, | ||
| "description": "If true, bus objects are filtered." | ||
| }, | ||
| "TRAILER": { | ||
| "type": "boolean", | ||
| "default": false, | ||
| "description": "If true, trailer objects are filtered." | ||
| }, | ||
| "MOTORCYCLE": { | ||
| "type": "boolean", | ||
| "default": false, | ||
| "description": "If true, motorcycle objects are filtered." | ||
| }, | ||
| "BICYCLE": { | ||
| "type": "boolean", | ||
| "default": false, | ||
| "description": "If true, bicycle objects are filtered." | ||
| }, | ||
| "PEDESTRIAN": { | ||
| "type": "boolean", | ||
| "default": false, | ||
| "description": "If true, pedestrian objects are filtered." | ||
| } | ||
| }, | ||
| "required": [ | ||
| "UNKNOWN", | ||
| "CAR", | ||
| "TRUCK", | ||
| "BUS", | ||
| "TRAILER", | ||
| "MOTORCYCLE", | ||
| "BICYCLE", | ||
| "PEDESTRIAN" | ||
| ] | ||
| }, | ||
| "filter_settings": { | ||
| "type": "object", | ||
| "properties": { | ||
| "polygon_overlap_filter": { | ||
| "type": "object", | ||
| "properties": { | ||
| "enabled": { | ||
| "type": "boolean", | ||
| "default": true, | ||
| "description": "If true, objects that are not in the lanelet polygon are filtered." | ||
| } | ||
| }, | ||
| "required": ["enabled"] | ||
| }, | ||
| "lanelet_direction_filter": { | ||
| "type": "object", | ||
| "properties": { | ||
| "enabled": { | ||
| "type": "boolean", | ||
| "default": false, | ||
| "description": "If true, objects that are not in the same direction as the lanelet are filtered." | ||
| }, | ||
| "velocity_yaw_threshold": { | ||
| "type": "number", | ||
| "default": 0.785398, | ||
| "description": "If the yaw difference between the object and the lanelet is greater than this value, the object is filtered." | ||
| }, | ||
| "object_speed_threshold": { | ||
| "type": "number", | ||
| "default": 3.0, | ||
| "description": "If the object speed is greater than this value, the object is filtered." | ||
| } | ||
| }, | ||
| "required": ["enabled", "velocity_yaw_threshold", "object_speed_threshold"] | ||
| } | ||
| }, | ||
| "required": ["polygon_overlap_filter", "lanelet_direction_filter"] | ||
| } | ||
| }, | ||
| "required": ["filter_target_label", "filter_settings"], | ||
| "additionalProperties": false | ||
| } | ||
| }, | ||
| "properties": { | ||
| "/**": { | ||
| "type": "object", | ||
| "properties": { | ||
| "ros__parameters": { | ||
| "$ref": "#/definitions/object_lanelet_filter" | ||
| } | ||
| }, | ||
| "required": ["ros__parameters"], | ||
| "additionalProperties": false | ||
| } | ||
| }, | ||
| "required": ["/**"], | ||
| "additionalProperties": false | ||
| } |
106 changes: 106 additions & 0 deletions
106
perception/autoware_detected_object_validation/schema/object_position_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 +1,106 @@ | ||
| { | ||
| "$schema": "http://json-schema.org/draft-07/schema#", | ||
| "title": "Parameters for Object Position Filter", | ||
| "type": "object", | ||
| "definitions": { | ||
| "object_position_filter_params": { | ||
| "type": "object", | ||
| "properties": { | ||
| "filter_target_label": { | ||
| "type": "object", | ||
| "properties": { | ||
| "UNKNOWN": { | ||
| "type": "boolean", | ||
| "default": true, | ||
| "description": "Filter for UNKNOWN label" | ||
| }, | ||
| "CAR": { | ||
| "type": "boolean", | ||
| "default": false, | ||
| "description": "Filter for CAR label" | ||
| }, | ||
| "TRUCK": { | ||
| "type": "boolean", | ||
| "default": false, | ||
| "description": "Filter for TRUCK label" | ||
| }, | ||
| "BUS": { | ||
| "type": "boolean", | ||
| "default": false, | ||
| "description": "Filter for BUS label" | ||
| }, | ||
| "TRAILER": { | ||
| "type": "boolean", | ||
| "default": false, | ||
| "description": "Filter for TRAILER label" | ||
| }, | ||
| "MOTORCYCLE": { | ||
| "type": "boolean", | ||
| "default": false, | ||
| "description": "Filter for MOTORCYCLE label" | ||
| }, | ||
| "BICYCLE": { | ||
| "type": "boolean", | ||
| "default": false, | ||
| "description": "Filter for BICYCLE label" | ||
| }, | ||
| "PEDESTRIAN": { | ||
| "type": "boolean", | ||
| "default": false, | ||
| "description": "Filter for PEDESTRIAN label" | ||
| } | ||
| }, | ||
| "required": [ | ||
| "UNKNOWN", | ||
| "CAR", | ||
| "TRUCK", | ||
| "BUS", | ||
| "TRAILER", | ||
| "MOTORCYCLE", | ||
| "BICYCLE", | ||
| "PEDESTRIAN" | ||
| ] | ||
| }, | ||
| "upper_bound_x": { | ||
| "type": "number", | ||
| "default": 100.0, | ||
| "description": "Upper bound for X coordinate" | ||
| }, | ||
| "lower_bound_x": { | ||
| "type": "number", | ||
| "default": 0.0, | ||
| "description": "Lower bound for X coordinate" | ||
| }, | ||
| "upper_bound_y": { | ||
| "type": "number", | ||
| "default": 10.0, | ||
| "description": "Upper bound for Y coordinate" | ||
| }, | ||
| "lower_bound_y": { | ||
| "type": "number", | ||
| "default": -10.0, | ||
| "description": "Lower bound for Y coordinate" | ||
| } | ||
| }, | ||
| "required": [ | ||
| "filter_target_label", | ||
| "upper_bound_x", | ||
| "lower_bound_x", | ||
| "upper_bound_y", | ||
| "lower_bound_y" | ||
| ] | ||
| } | ||
| }, | ||
| "properties": { | ||
| "/**": { | ||
| "type": "object", | ||
| "properties": { | ||
| "ros__parameters": { | ||
| "$ref": "#/definitions/object_position_filter_params" | ||
| } | ||
| }, | ||
| "required": ["ros__parameters"] | ||
| } | ||
| }, | ||
| "required": ["/**"] | ||
| } |
68 changes: 68 additions & 0 deletions
68
...utoware_detected_object_validation/schema/obstacle_pointcloud_based_validator.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 +1,68 @@ | ||
| { | ||
| "$schema": "http://json-schema.org/draft-07/schema#", | ||
| "title": "Parameters for Obstacle Pointcloud Based Validator", | ||
| "type": "object", | ||
| "definitions": { | ||
| "obstacle_pointcloud_based_validator": { | ||
| "type": "object", | ||
| "properties": { | ||
| "min_points_num": { | ||
| "type": "array", | ||
| "items": { | ||
| "type": "integer" | ||
| }, | ||
| "default": [10, 10, 10, 10, 10, 10, 10, 10], | ||
| "description": "The minimum number of obstacle point clouds in DetectedObjects" | ||
| }, | ||
| "max_points_num": { | ||
| "type": "array", | ||
| "items": { | ||
| "type": "integer" | ||
| }, | ||
| "default": [10, 10, 10, 10, 10, 10, 10, 10], | ||
| "description": "The max number of obstacle point clouds in DetectedObjects" | ||
| }, | ||
| "min_points_and_distance_ratio": { | ||
| "type": "array", | ||
| "items": { | ||
| "type": "number" | ||
| }, | ||
| "default": [800, 800, 800, 800, 800, 800, 800, 800], | ||
| "description": "Threshold value of the number of point clouds per object when the distance from baselink is 1m, because the number of point clouds varies with the distance from baselink." | ||
| }, | ||
| "using_2d_validator": { | ||
| "type": "boolean", | ||
| "default": false, | ||
| "description": "The xy-plane projected (2D) obstacle point clouds will be used for validation" | ||
| }, | ||
| "enable_debugger": { | ||
| "type": "boolean", | ||
| "default": false, | ||
| "description": "Whether to create debug topics or not?" | ||
| } | ||
| }, | ||
| "required": [ | ||
| "min_points_num", | ||
| "max_points_num", | ||
| "min_points_and_distance_ratio", | ||
| "using_2d_validator", | ||
| "enable_debugger" | ||
| ], | ||
| "additionalProperties": false | ||
| } | ||
| }, | ||
| "properties": { | ||
| "/**": { | ||
| "type": "object", | ||
| "properties": { | ||
| "ros__parameters": { | ||
| "$ref": "#/definitions/obstacle_pointcloud_based_validator" | ||
| } | ||
| }, | ||
| "required": ["ros__parameters"], | ||
| "additionalProperties": false | ||
| } | ||
| }, | ||
| "required": ["/**"], | ||
| "additionalProperties": false | ||
| } |
38 changes: 38 additions & 0 deletions
38
...ion/autoware_detected_object_validation/schema/occupancy_grid_based_validator.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 +1,38 @@ | ||
| { | ||
| "$schema": "http://json-schema.org/draft-07/schema#", | ||
| "title": "Parameters for Occupancy Grid Based Validator", | ||
| "type": "object", | ||
| "definitions": { | ||
| "occupancy_grid_based_validator": { | ||
| "type": "object", | ||
| "properties": { | ||
| "mean_threshold": { | ||
| "type": "number", | ||
| "default": 0.6, | ||
| "description": "The percentage threshold of allowed non-freespace." | ||
| }, | ||
| "enable_debug": { | ||
| "type": "boolean", | ||
| "default": false, | ||
| "description": "Whether to display debug images or not?" | ||
| } | ||
| }, | ||
| "required": ["mean_threshold", "enable_debug"], | ||
| "additionalProperties": false | ||
| } | ||
| }, | ||
| "properties": { | ||
| "/**": { | ||
| "type": "object", | ||
| "properties": { | ||
| "ros__parameters": { | ||
| "$ref": "#/definitions/occupancy_grid_based_validator" | ||
| } | ||
| }, | ||
| "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
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
Oops, something went wrong.