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Signed-off-by: Ariiees <[email protected]>
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44 changes: 44 additions & 0 deletions
44
sensing/pointcloud_preprocessor/schema/approximate_downsample_filter.schema.json
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|---|---|---|
| @@ -0,0 +1,44 @@ | ||
| { | ||
| "$schema": "http://json-schema.org/draft-07/schema#", | ||
| "title": "approximate_downsample_filter", | ||
| "type": "object", | ||
| "definitions": { | ||
| "approximate_downsample_filter": { | ||
| "type": "object", | ||
| "properties": { | ||
| "voxel_size_x": { | ||
| "type": "number", | ||
| "description": "voxel size x [m]", | ||
| "default": "0.3" | ||
| }, | ||
| "voxel_size_y": { | ||
| "type": "number", | ||
| "description": "voxel size y [m]", | ||
| "default": "0.3" | ||
| }, | ||
| "voxel_size_z": { | ||
| "type": "number", | ||
| "description": "voxel size z [m]", | ||
| "default": "0.1" | ||
| } | ||
| }, | ||
| "required": ["voxel_size_x", "voxel_size_y", "voxel_size_z"], | ||
| "additionalProperties": false | ||
| } | ||
| }, | ||
| "properties": { | ||
| "/**": { | ||
| "type": "object", | ||
| "properties": { | ||
| "ros__parameters": { | ||
| "$ref": "#/definitions/approximate_downsample_filter" | ||
| } | ||
| }, | ||
| "required": ["ros__parameters"], | ||
| "additionalProperties": false | ||
| } | ||
| }, | ||
| "required": ["/**"], | ||
| "additionalProperties": false | ||
| } | ||
|
|
39 changes: 39 additions & 0 deletions
39
sensing/pointcloud_preprocessor/schema/distortion_corrector.schema.json
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,39 @@ | ||
| { | ||
| "$schema": "http://json-schema.org/draft-07/schema#", | ||
| "title": "distortion_corrector", | ||
| "type": "object", | ||
| "definitions": { | ||
| "distortion_corrector": { | ||
| "type": "object", | ||
| "properties": { | ||
| "time_stamp_field_name": { | ||
| "type": "string", | ||
| "description": "time stamp field name", | ||
| "default": "time_stamp" | ||
| }, | ||
| "use_imu": { | ||
| "type": "boolean", | ||
| "description": "use gyroscope for yaw rate if true, else use vehicle status", | ||
| "default": "true" | ||
| } | ||
| }, | ||
| "required": ["time_stamp_field_name", "use_imu"], | ||
| "additionalProperties": false | ||
| } | ||
| }, | ||
| "properties": { | ||
| "/**": { | ||
| "type": "object", | ||
| "properties": { | ||
| "ros__parameters": { | ||
| "$ref": "#/definitions/distortion_corrector" | ||
| } | ||
| }, | ||
| "required": ["ros__parameters"], | ||
| "additionalProperties": false | ||
| } | ||
| }, | ||
| "required": ["/**"], | ||
| "additionalProperties": false | ||
| } | ||
|
|
39 changes: 39 additions & 0 deletions
39
sensing/pointcloud_preprocessor/schema/lanelet2_map_filter.schema.json
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|---|---|---|
| @@ -0,0 +1,39 @@ | ||
| { | ||
| "$schema": "http://json-schema.org/draft-07/schema#", | ||
| "title": "lanelet2_map_filter", | ||
| "type": "object", | ||
| "definitions": { | ||
| "lanelet2_map_filter": { | ||
| "type": "object", | ||
| "properties": { | ||
| "voxel_size_x": { | ||
| "type": "number", | ||
| "description": "voxel size", | ||
| "default": "0.04" | ||
| }, | ||
| "voxel_size_y": { | ||
| "type": "number", | ||
| "description": "voxel size", | ||
| "default": "0.04" | ||
| } | ||
| }, | ||
| "required": ["voxel_size_x", "voxel_size_y"], | ||
| "additionalProperties": false | ||
| } | ||
| }, | ||
| "properties": { | ||
| "/**": { | ||
| "type": "object", | ||
| "properties": { | ||
| "ros__parameters": { | ||
| "$ref": "#/definitions/lanelet2_map_filter" | ||
| } | ||
| }, | ||
| "required": ["ros__parameters"], | ||
| "additionalProperties": false | ||
| } | ||
| }, | ||
| "required": ["/**"], | ||
| "additionalProperties": false | ||
| } | ||
|
|
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