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refactor(multi_object_tracker): rework parameters (#7333)
* Refractored the parameters, build the schema file, updated the readme file. Signed-off-by: Boyang <[email protected]> * style(pre-commit): autofix --------- Signed-off-by: Boyang <[email protected]> Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>
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74 changes: 74 additions & 0 deletions
74
perception/multi_object_tracker/schema/data_association_matrix.schema.json
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,74 @@ | ||
| { | ||
| "$schema": "http://json-schema.org/draft-07/schema#", | ||
| "title": "Parameters for Data Association Matrix", | ||
| "type": "object", | ||
| "definitions": { | ||
| "data_association_matrix": { | ||
| "type": "object", | ||
| "properties": { | ||
| "can_assign_matrix": { | ||
| "type": "array", | ||
| "description": "Assignment table for data association.", | ||
| "items": { | ||
| "type": "integer" | ||
| } | ||
| }, | ||
| "max_dist_matrix": { | ||
| "type": "array", | ||
| "description": "Maximum distance table for data association.", | ||
| "items": { | ||
| "type": "number" | ||
| } | ||
| }, | ||
| "max_area_matrix": { | ||
| "type": "array", | ||
| "description": "Maximum area table for data association.", | ||
| "items": { | ||
| "type": "number" | ||
| } | ||
| }, | ||
| "min_area_matrix": { | ||
| "type": "array", | ||
| "description": "Minimum area table for data association.", | ||
| "items": { | ||
| "type": "number" | ||
| } | ||
| }, | ||
| "max_rad_matrix": { | ||
| "type": "array", | ||
| "description": "Maximum angle table for data association.", | ||
| "items": { | ||
| "type": "number" | ||
| } | ||
| }, | ||
| "min_iou_matrix": { | ||
| "type": "array", | ||
| "description": "A matrix that represents the minimum Intersection over Union (IoU) limit allowed for assignment.", | ||
| "items": { | ||
| "type": "number" | ||
| } | ||
| } | ||
| }, | ||
| "required": [ | ||
| "can_assign_matrix", | ||
| "max_dist_matrix", | ||
| "max_area_matrix", | ||
| "min_area_matrix", | ||
| "max_rad_matrix", | ||
| "min_iou_matrix" | ||
| ] | ||
| } | ||
| }, | ||
| "properties": { | ||
| "/**": { | ||
| "type": "object", | ||
| "properties": { | ||
| "ros__parameters": { | ||
| "$ref": "#/definitions/data_association_matrix" | ||
| } | ||
| }, | ||
| "required": ["ros__parameters"] | ||
| } | ||
| }, | ||
| "required": ["/**"] | ||
| } |
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perception/multi_object_tracker/schema/input_channels.schema.json
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|---|---|---|
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| { | ||
| "$schema": "http://json-schema.org/draft-07/schema#", | ||
| "title": "Parameters for Input Channels", | ||
| "type": "object", | ||
| "definitions": { | ||
| "input_channel": { | ||
| "type": "object", | ||
| "properties": { | ||
| "topic": { | ||
| "type": "string", | ||
| "description": "The ROS topic name for the input channel." | ||
| }, | ||
| "can_spawn_new_tracker": { | ||
| "type": "boolean", | ||
| "description": "Indicates if the input channel can spawn new trackers." | ||
| }, | ||
| "optional": { | ||
| "type": "object", | ||
| "properties": { | ||
| "name": { | ||
| "type": "string", | ||
| "description": "The name of the input channel." | ||
| }, | ||
| "short_name": { | ||
| "type": "string", | ||
| "description": "The short name of the input channel." | ||
| } | ||
| } | ||
| } | ||
| }, | ||
| "required": ["topic", "can_spawn_new_tracker"] | ||
| } | ||
| }, | ||
| "properties": { | ||
| "/**": { | ||
| "type": "object", | ||
| "properties": { | ||
| "ros__parameters": { | ||
| "type": "object", | ||
| "properties": { | ||
| "input_channels": { | ||
| "type": "object", | ||
| "properties": { | ||
| "detected_objects": { "$ref": "#/definitions/input_channel" }, | ||
| "lidar_clustering": { "$ref": "#/definitions/input_channel" }, | ||
| "lidar_centerpoint": { "$ref": "#/definitions/input_channel" }, | ||
| "lidar_centerpoint_validated": { "$ref": "#/definitions/input_channel" }, | ||
| "lidar_apollo": { "$ref": "#/definitions/input_channel" }, | ||
| "lidar_apollo_validated": { "$ref": "#/definitions/input_channel" }, | ||
| "lidar_pointpainitng": { "$ref": "#/definitions/input_channel" }, | ||
| "lidar_pointpainting_validated": { "$ref": "#/definitions/input_channel" }, | ||
| "camera_lidar_fusion": { "$ref": "#/definitions/input_channel" }, | ||
| "detection_by_tracker": { "$ref": "#/definitions/input_channel" }, | ||
| "radar": { "$ref": "#/definitions/input_channel" }, | ||
| "radar_far": { "$ref": "#/definitions/input_channel" } | ||
| }, | ||
| "required": [ | ||
| "detected_objects", | ||
| "lidar_clustering", | ||
| "lidar_centerpoint", | ||
| "lidar_centerpoint_validated", | ||
| "lidar_apollo", | ||
| "lidar_apollo_validated", | ||
| "lidar_pointpainitng", | ||
| "lidar_pointpainting_validated", | ||
| "camera_lidar_fusion", | ||
| "detection_by_tracker", | ||
| "radar", | ||
| "radar_far" | ||
| ] | ||
| } | ||
| }, | ||
| "required": ["input_channels"] | ||
| } | ||
| }, | ||
| "required": ["ros__parameters"] | ||
| } | ||
| }, | ||
| "required": ["/**"] | ||
| } |
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perception/multi_object_tracker/schema/multi_object_tracker_node.schema.json
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| { | ||
| "$schema": "http://json-schema.org/draft-07/schema#", | ||
| "title": "Parameters for Multi Object Tracker Node", | ||
| "type": "object", | ||
| "definitions": { | ||
| "multi_object_tracker_node": { | ||
| "type": "object", | ||
| "properties": { | ||
| "car_tracker": { | ||
| "type": "string", | ||
| "description": "Tracker model for car class.", | ||
| "default": "multi_vehicle_tracker" | ||
| }, | ||
| "truck_tracker": { | ||
| "type": "string", | ||
| "description": "Tracker model for truck class.", | ||
| "default": "multi_vehicle_tracker" | ||
| }, | ||
| "bus_tracker": { | ||
| "type": "string", | ||
| "description": "Tracker model for bus class.", | ||
| "default": "multi_vehicle_tracker" | ||
| }, | ||
| "trailer_tracker": { | ||
| "type": "string", | ||
| "description": "Tracker model for trailer class.", | ||
| "default": "multi_vehicle_tracker" | ||
| }, | ||
| "pedestrian_tracker": { | ||
| "type": "string", | ||
| "description": "Tracker model for pedestrian class.", | ||
| "default": "pedestrian_and_bicycle_tracker" | ||
| }, | ||
| "bicycle_tracker": { | ||
| "type": "string", | ||
| "description": "Tracker model for bicycle class.", | ||
| "default": "pedestrian_and_bicycle_tracker" | ||
| }, | ||
| "motorcycle_tracker": { | ||
| "type": "string", | ||
| "description": "Tracker model for motorcycle class.", | ||
| "default": "pedestrian_and_bicycle_tracker" | ||
| }, | ||
| "publish_rate": { | ||
| "type": "number", | ||
| "description": "Timer frequency to output with delay compensation.", | ||
| "default": 10.0 | ||
| }, | ||
| "world_frame_id": { | ||
| "type": "string", | ||
| "description": "Object kinematics definition frame.", | ||
| "default": "map" | ||
| }, | ||
| "enable_delay_compensation": { | ||
| "type": "boolean", | ||
| "description": "If True, tracker use timers to schedule publishers and use prediction step to extrapolate object state at desired timestamp.", | ||
| "default": false | ||
| }, | ||
| "publish_processing_time": { | ||
| "type": "boolean", | ||
| "description": "Enable to publish debug message of process time information.", | ||
| "default": false | ||
| }, | ||
| "publish_tentative_objects": { | ||
| "type": "boolean", | ||
| "description": "Enable to publish tentative tracked objects, which have lower confidence.", | ||
| "default": false | ||
| }, | ||
| "publish_debug_markers": { | ||
| "type": "boolean", | ||
| "description": "Enable to publish debug markers, which indicates association of multi-inputs, existence probability of each detection.", | ||
| "default": false | ||
| }, | ||
| "diagnostics_warn_delay": { | ||
| "type": "number", | ||
| "description": "Delay threshold for warning diagnostics in seconds.", | ||
| "default": 0.5 | ||
| }, | ||
| "diagnostics_error_delay": { | ||
| "type": "number", | ||
| "description": "Delay threshold for error diagnostics in seconds.", | ||
| "default": 1.0 | ||
| } | ||
| }, | ||
| "required": [ | ||
| "car_tracker", | ||
| "truck_tracker", | ||
| "bus_tracker", | ||
| "trailer_tracker", | ||
| "pedestrian_tracker", | ||
| "bicycle_tracker", | ||
| "motorcycle_tracker", | ||
| "publish_rate", | ||
| "world_frame_id", | ||
| "enable_delay_compensation", | ||
| "publish_processing_time", | ||
| "publish_tentative_objects", | ||
| "publish_debug_markers", | ||
| "diagnostics_warn_delay", | ||
| "diagnostics_error_delay" | ||
| ] | ||
| } | ||
| }, | ||
| "properties": { | ||
| "/**": { | ||
| "type": "object", | ||
| "properties": { | ||
| "ros__parameters": { | ||
| "$ref": "#/definitions/multi_object_tracker_node" | ||
| } | ||
| }, | ||
| "required": ["ros__parameters"] | ||
| } | ||
| }, | ||
| "required": ["/**"] | ||
| } |
62 changes: 62 additions & 0 deletions
62
perception/multi_object_tracker/schema/simulation_tracker.schema.json
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| { | ||
| "$schema": "http://json-schema.org/draft-07/schema#", | ||
| "title": "Parameters for Simulation Tracker Node", | ||
| "type": "object", | ||
| "definitions": { | ||
| "simulation_tracker_node": { | ||
| "type": "object", | ||
| "properties": { | ||
| "car_tracker": { | ||
| "type": "string", | ||
| "description": "Tracker model for car class.", | ||
| "default": "pass_through_tracker" | ||
| }, | ||
| "truck_tracker": { | ||
| "type": "string", | ||
| "description": "Tracker model for truck class.", | ||
| "default": "pass_through_tracker" | ||
| }, | ||
| "bus_tracker": { | ||
| "type": "string", | ||
| "description": "Tracker model for bus class.", | ||
| "default": "pass_through_tracker" | ||
| }, | ||
| "pedestrian_tracker": { | ||
| "type": "string", | ||
| "description": "Tracker model for pedestrian class.", | ||
| "default": "pass_through_tracker" | ||
| }, | ||
| "bicycle_tracker": { | ||
| "type": "string", | ||
| "description": "Tracker model for bicycle class.", | ||
| "default": "pass_through_tracker" | ||
| }, | ||
| "motorcycle_tracker": { | ||
| "type": "string", | ||
| "description": "Tracker model for motorcycle class.", | ||
| "default": "pass_through_tracker" | ||
| } | ||
| }, | ||
| "required": [ | ||
| "car_tracker", | ||
| "truck_tracker", | ||
| "bus_tracker", | ||
| "pedestrian_tracker", | ||
| "bicycle_tracker", | ||
| "motorcycle_tracker" | ||
| ] | ||
| } | ||
| }, | ||
| "properties": { | ||
| "/**": { | ||
| "type": "object", | ||
| "properties": { | ||
| "ros__parameters": { | ||
| "$ref": "#/definitions/simulation_tracker_node" | ||
| } | ||
| }, | ||
| "required": ["ros__parameters"] | ||
| } | ||
| }, | ||
| "required": ["/**"] | ||
| } |