From c63dc9e43c8dbc3c36c18d22dfe632a295740741 Mon Sep 17 00:00:00 2001 From: Taekjin LEE Date: Wed, 25 Dec 2024 11:25:46 +0900 Subject: [PATCH 1/5] chore: update perception/autoware_probabilistic_occupancy_grid_map README.md and schema files Signed-off-by: Taekjin LEE --- .../README.md | 29 +++++++++++++++---- ...chronized_grid_map_fusion_node.schema.json | 2 +- 2 files changed, 24 insertions(+), 7 deletions(-) diff --git a/perception/autoware_probabilistic_occupancy_grid_map/README.md b/perception/autoware_probabilistic_occupancy_grid_map/README.md index 575411bcbd220..009db5bebc10a 100644 --- a/perception/autoware_probabilistic_occupancy_grid_map/README.md +++ b/perception/autoware_probabilistic_occupancy_grid_map/README.md @@ -21,12 +21,29 @@ You may need to choose `scan_origin_frame` and `gridmap_origin_frame` which mean ### Parameters -{{ json_to_markdown("perception/autoware_probabilistic_occupancy_grid_map/schema/binary_bayes_filter_updater.schema.json") }} -{{ json_to_markdown("perception/autoware_probabilistic_occupancy_grid_map/schema/grid_map.schema.json") }} -{{ json_to_markdown("perception/autoware_probabilistic_occupancy_grid_map/schema/laserscan_based_occupancy_grid_map.schema.json") }} -{{ json_to_markdown("perception/autoware_probabilistic_occupancy_grid_map/schema/multi_lidar_pointcloud_based_occupancy_grid_map.schema.json") }} -{{ json_to_markdown("perception/autoware_probabilistic_occupancy_grid_map/schema/pointcloud_based_occupancy_grid_map.schema.json") }} -{{ json_to_markdown("perception/autoware_probabilistic_occupancy_grid_map/schema/synchronized_grid_map_fusion_node.schema.json") }} +- binary bayes fitler updater + + {{ json_to_markdown("perception/autoware_probabilistic_occupancy_grid_map/schema/binary_bayes_filter_updater.schema.json") }} + +- grid map + + {{ json_to_markdown("perception/autoware_probabilistic_occupancy_grid_map/schema/grid_map.schema.json") }} + +- laserscan based occupancy grid map + + {{ json_to_markdown("perception/autoware_probabilistic_occupancy_grid_map/schema/laserscan_based_occupancy_grid_map.schema.json") }} + +- multi lidar pointcloud based occupancy grid map + + {{ json_to_markdown("perception/autoware_probabilistic_occupancy_grid_map/schema/multi_lidar_pointcloud_based_occupancy_grid_map.schema.json") }} + +- pointcloud based occupancy grid map + + {{ json_to_markdown("perception/autoware_probabilistic_occupancy_grid_map/schema/pointcloud_based_occupancy_grid_map.schema.json") }} + +- synchronized grid map fusion + + {{ json_to_markdown("perception/autoware_probabilistic_occupancy_grid_map/schema/synchronized_grid_map_fusion_node.schema.json") }} ### Downsample input pointcloud(Optional) diff --git a/perception/autoware_probabilistic_occupancy_grid_map/schema/synchronized_grid_map_fusion_node.schema.json b/perception/autoware_probabilistic_occupancy_grid_map/schema/synchronized_grid_map_fusion_node.schema.json index 14f4305f55de8..51b962622346f 100644 --- a/perception/autoware_probabilistic_occupancy_grid_map/schema/synchronized_grid_map_fusion_node.schema.json +++ b/perception/autoware_probabilistic_occupancy_grid_map/schema/synchronized_grid_map_fusion_node.schema.json @@ -2,7 +2,7 @@ "$schema": "http://json-schema.org/draft-07/schema#", "title": "Parameters for Synchronized Grid Map Fusion Node", "type": "object", - "properties": { + "definitions": { "/**": { "type": "object", "properties": { From 1a3b7036fc27ddfc587c343a5b07a937c275a3af Mon Sep 17 00:00:00 2001 From: Taekjin LEE Date: Wed, 25 Dec 2024 12:42:26 +0900 Subject: [PATCH 2/5] chore: update perception/autoware_object_merger README.md and schema files Signed-off-by: Taekjin LEE --- perception/autoware_object_merger/README.md | 8 ++++++ .../data_association_matrix.schema.json | 27 ++++++++++++++++++- .../schema/overlapped_judge.schema.json | 4 ++- 3 files changed, 37 insertions(+), 2 deletions(-) diff --git a/perception/autoware_object_merger/README.md b/perception/autoware_object_merger/README.md index c65353efa3a91..a78cd70052707 100644 --- a/perception/autoware_object_merger/README.md +++ b/perception/autoware_object_merger/README.md @@ -25,8 +25,16 @@ The successive shortest path algorithm is used to solve the data association pro ## Parameters +- object association merger + {{ json_to_markdown("perception/autoware_object_merger/schema/object_association_merger.schema.json") }} + +- data association matrix + {{ json_to_markdown("perception/autoware_object_merger/schema/data_association_matrix.schema.json") }} + +- overlapped judge + {{ json_to_markdown("perception/autoware_object_merger/schema/overlapped_judge.schema.json") }} ## Tips diff --git a/perception/autoware_object_merger/schema/data_association_matrix.schema.json b/perception/autoware_object_merger/schema/data_association_matrix.schema.json index 68dc977224ba5..219a2d583e944 100644 --- a/perception/autoware_object_merger/schema/data_association_matrix.schema.json +++ b/perception/autoware_object_merger/schema/data_association_matrix.schema.json @@ -2,7 +2,7 @@ "$schema": "http://json-schema.org/draft-07/schema#", "title": "Data Association Matrix Parameters", "type": "object", - "properties": { + "definitions": { "ros__parameters": { "type": "object", "properties": { @@ -11,6 +11,11 @@ "items": { "type": "number" }, + "default": [ + 0, 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 + ], "description": "Assignment table for data association" }, "max_dist_matrix": { @@ -18,6 +23,12 @@ "items": { "type": "number" }, + "default": [ + 4.0, 4.0, 5.0, 5.0, 5.0, 2.0, 2.0, 2.0, 4.0, 2.0, 5.0, 5.0, 5.0, 1.0, 1.0, 1.0, 5.0, + 5.0, 5.0, 5.0, 5.0, 1.0, 1.0, 1.0, 5.0, 5.0, 5.0, 5.0, 5.0, 1.0, 1.0, 1.0, 5.0, 5.0, + 5.0, 5.0, 5.0, 1.0, 1.0, 1.0, 2.0, 1.0, 1.0, 1.0, 1.0, 3.0, 3.0, 3.0, 2.0, 1.0, 1.0, + 1.0, 1.0, 3.0, 3.0, 3.0, 2.0, 1.0, 1.0, 1.0, 1.0, 3.0, 3.0, 2.0 + ], "description": "Maximum distance table for data association" }, "max_rad_matrix": { @@ -25,6 +36,14 @@ "items": { "type": "number" }, + "default": [ + 3.15, 3.15, 3.15, 3.15, 3.15, 3.15, 3.15, 3.15, 3.15, 1.047, 1.047, 1.047, 1.047, 3.15, + 3.15, 3.15, 3.15, 1.047, 1.047, 1.047, 1.047, 3.15, 3.15, 3.15, 3.15, 1.047, 1.047, + 1.047, 1.047, 3.15, 3.15, 3.15, 3.15, 1.047, 1.047, 1.047, 1.047, 3.15, 3.15, 3.15, + 3.15, 3.15, 3.15, 3.15, 3.15, 3.15, 3.15, 3.15, 3.15, 3.15, 3.15, 3.15, 3.15, 3.15, + 3.15, 3.15, 3.15, 3.15, 3.15, 3.15, 3.15, 3.15, 3.15, 3.15 + ], + "description": "Maximum angle table for data association. If value is greater than pi, it will be ignored." }, "min_iou_matrix": { @@ -32,6 +51,12 @@ "items": { "type": "number" }, + "default": [ + 0.1, 0.1, 0.1, 0.1, 0.1, 0.1, 0.1, 0.1, 0.1, 0.3, 0.2, 0.2, 0.2, 0.1, 0.1, 0.1, 0.1, + 0.2, 0.3, 0.3, 0.3, 0.1, 0.1, 0.1, 0.1, 0.2, 0.3, 0.3, 0.3, 0.1, 0.1, 0.1, 0.1, 0.2, + 0.3, 0.3, 0.3, 0.1, 0.1, 0.1, 0.1, 0.1, 0.1, 0.1, 0.1, 0.1, 0.1, 0.1, 0.1, 0.1, 0.1, + 0.1, 0.1, 0.1, 0.1, 0.1, 0.1, 0.1, 0.1, 0.1, 0.1, 0.1, 0.1, 0.1 + ], "description": "Minimum IoU threshold matrix for data association. If value is negative, it will be ignored." } }, diff --git a/perception/autoware_object_merger/schema/overlapped_judge.schema.json b/perception/autoware_object_merger/schema/overlapped_judge.schema.json index b65464c6201d1..63698dcdff76e 100644 --- a/perception/autoware_object_merger/schema/overlapped_judge.schema.json +++ b/perception/autoware_object_merger/schema/overlapped_judge.schema.json @@ -2,7 +2,7 @@ "$schema": "http://json-schema.org/draft-07/schema#", "title": "Overlapped Judge Parameters", "type": "object", - "properties": { + "definitions": { "ros__parameters": { "type": "object", "properties": { @@ -11,6 +11,7 @@ "items": { "type": "number" }, + "default": [9.0, 9.0, 9.0, 9.0, 9.0, 9.0, 9.0, 9.0], "description": "Distance threshold for each class used in judging overlap." }, "generalized_iou_threshold": { @@ -18,6 +19,7 @@ "items": { "type": "number" }, + "default": [-0.1, -0.1, -0.1, -0.6, -0.6, -0.1, -0.1, -0.1], "description": "Generalized IoU threshold for each class." } }, From a5ba1e9889464c7abc043f15002e4a496990ab5d Mon Sep 17 00:00:00 2001 From: Taekjin LEE Date: Wed, 25 Dec 2024 12:42:33 +0900 Subject: [PATCH 3/5] chore: update schema file path in autoware_occupancy_grid_map_outlier_filter README.md Signed-off-by: Taekjin LEE --- perception/autoware_occupancy_grid_map_outlier_filter/README.md | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/perception/autoware_occupancy_grid_map_outlier_filter/README.md b/perception/autoware_occupancy_grid_map_outlier_filter/README.md index 7de2cc1dce92c..b920aa6908946 100644 --- a/perception/autoware_occupancy_grid_map_outlier_filter/README.md +++ b/perception/autoware_occupancy_grid_map_outlier_filter/README.md @@ -40,7 +40,7 @@ The following video is a sample. Yellow points are high occupancy probability, g ## Parameters -{{ json_to_markdown("perception/occupancy_grid_map_outlier_filter/schema/occupancy_grid_map_outlier_filter.schema.json") }} +{{ json_to_markdown("perception/autoware_occupancy_grid_map_outlier_filter/schema/occupancy_grid_map_outlier_filter.schema.json") }} ## Assumptions / Known limits From fecb91995b23210d403c41178ef2f457e78da875 Mon Sep 17 00:00:00 2001 From: Taekjin LEE Date: Wed, 25 Dec 2024 12:46:33 +0900 Subject: [PATCH 4/5] chore: update schema file path in autoware_pointcloud_preprocessor documentation Signed-off-by: Taekjin LEE --- .../autoware_pointcloud_preprocessor/docs/downsample-filter.md | 2 +- .../docs/passthrough-filter.md | 3 +-- .../schema/blockage_diag_node.schema.json | 3 ++- 3 files changed, 4 insertions(+), 4 deletions(-) diff --git a/sensing/autoware_pointcloud_preprocessor/docs/downsample-filter.md b/sensing/autoware_pointcloud_preprocessor/docs/downsample-filter.md index 92ca1d3b3081c..f237a1871b5e5 100644 --- a/sensing/autoware_pointcloud_preprocessor/docs/downsample-filter.md +++ b/sensing/autoware_pointcloud_preprocessor/docs/downsample-filter.md @@ -48,7 +48,7 @@ These implementations inherit `autoware::pointcloud_preprocessor::Filter` class, ### Pickup Based Voxel Grid Downsample Filter -{{ json_to_markdown("sensing/autoware_pointcloud_preprocessor/schema/pickup_based_voxel_grid_downsample_filter.schema.json") }} +{{ json_to_markdown("sensing/autoware_pointcloud_preprocessor/schema/pickup_based_voxel_grid_downsample_filter_node.schema.json") }} ## Assumptions / Known limits diff --git a/sensing/autoware_pointcloud_preprocessor/docs/passthrough-filter.md b/sensing/autoware_pointcloud_preprocessor/docs/passthrough-filter.md index 58da60c8fe90e..25d2f3d4127a0 100644 --- a/sensing/autoware_pointcloud_preprocessor/docs/passthrough-filter.md +++ b/sensing/autoware_pointcloud_preprocessor/docs/passthrough-filter.md @@ -25,8 +25,7 @@ The `passthrough_filter` is a node that removes points on the outside of a range ### Core Parameters -{{ json_to_markdown("sensing/autoware_pointcloud_preprocessor/schema/passthrough_filter_uint16_node.schema.json -") }} +{{ json_to_markdown("sensing/autoware_pointcloud_preprocessor/schema/passthrough_filter_uint16_node.schema.json") }} ## Assumptions / Known limits diff --git a/sensing/autoware_pointcloud_preprocessor/schema/blockage_diag_node.schema.json b/sensing/autoware_pointcloud_preprocessor/schema/blockage_diag_node.schema.json index 0e4a02d37bd16..cdca58a6a73f0 100644 --- a/sensing/autoware_pointcloud_preprocessor/schema/blockage_diag_node.schema.json +++ b/sensing/autoware_pointcloud_preprocessor/schema/blockage_diag_node.schema.json @@ -99,7 +99,8 @@ "type": "number", "minimum": 0.0, "maximum": 360.0 - } + }, + "default": [0.0, 360.0] }, "vertical_bins": { "type": "integer", From e737bae7290a3fc39d5b9f5442a32aeb82e42eda Mon Sep 17 00:00:00 2001 From: Taekjin LEE Date: Wed, 25 Dec 2024 12:53:18 +0900 Subject: [PATCH 5/5] chore: fix typo mis Signed-off-by: Taekjin LEE --- perception/autoware_probabilistic_occupancy_grid_map/README.md | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/perception/autoware_probabilistic_occupancy_grid_map/README.md b/perception/autoware_probabilistic_occupancy_grid_map/README.md index 009db5bebc10a..3637dcb10daeb 100644 --- a/perception/autoware_probabilistic_occupancy_grid_map/README.md +++ b/perception/autoware_probabilistic_occupancy_grid_map/README.md @@ -21,7 +21,7 @@ You may need to choose `scan_origin_frame` and `gridmap_origin_frame` which mean ### Parameters -- binary bayes fitler updater +- binary bayes filter updater {{ json_to_markdown("perception/autoware_probabilistic_occupancy_grid_map/schema/binary_bayes_filter_updater.schema.json") }}