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perception/lidar_centerpoint/schema/centerpoint_sigma_ml_package.schema.json
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| { | ||
| "$schema": "http://json-schema.org/draft-07/schema#", | ||
| "title": "Parameters for Centerpoint Sigma ML model", | ||
| "type": "object", | ||
| "definitions": { | ||
| "centerpoint_sigma_ml_package": { | ||
| "type": "object", | ||
| "properties": { | ||
| "model_params": { | ||
| "type": "object", | ||
| "description": "Parameters for model configuration.", | ||
| "properties": { | ||
| "class_names": { | ||
| "type": "array", | ||
| "description": "An array of class names will be predicted.", | ||
| "default": ["CAR", "TRUCK", "BUS", "BICYCLE", "PEDESTRIAN"], | ||
| "uniqueItems": true | ||
| }, | ||
| "point_feature_size": { | ||
| "type": "integer", | ||
| "description": "A number of channels of point feature layer.", | ||
| "default": 4 | ||
| }, | ||
| "max_voxel_size": { | ||
| "type": "integer", | ||
| "description": "A maximum size of voxel grid.", | ||
| "default": 40000 | ||
| }, | ||
| "point_cloud_range": { | ||
| "type": "array", | ||
| "description": "An array of distance ranges of each class, this must have same length with `class_names`.", | ||
| "default": [-76.8, -76.8, -4.0, 76.8, 76.8, 6.0] | ||
| }, | ||
| "voxel_size": { | ||
| "type": "array", | ||
| "description": "An array of voxel grid sizes for PointPainting, this must have same length with `paint_class_names`.", | ||
| "default": [0.32, 0.32, 10.0] | ||
| }, | ||
| "down_sample_factor": { | ||
| "type": "integer", | ||
| "description": "A scale factor of downsampling points", | ||
| "default": 1, | ||
| "minimum": 1 | ||
| }, | ||
| "encoder_in_feature_size": { | ||
| "type": "integer", | ||
| "description": "A size of encoder input feature channels.", | ||
| "default": 9 | ||
| }, | ||
| "has_variance": { | ||
| "type": "boolean", | ||
| "description": "determines whether the covariance matrices for the object's position and velocity information are filled in.", | ||
| "default": false | ||
| }, | ||
| "has_twist": { | ||
| "type": "boolean", | ||
| "description": "Indicates whether the model outputs twist value.", | ||
| "default": false | ||
| } | ||
| "$schema": "http://json-schema.org/draft-07/schema#", | ||
| "title": "Parameters for Centerpoint Sigma ML model", | ||
| "type": "object", | ||
| "definitions": { | ||
| "centerpoint_sigma_ml_package": { | ||
| "type": "object", | ||
| "properties": { | ||
| "model_params": { | ||
| "type": "object", | ||
| "description": "Parameters for model configuration.", | ||
| "properties": { | ||
| "class_names": { | ||
| "type": "array", | ||
| "description": "An array of class names will be predicted.", | ||
| "default": ["CAR", "TRUCK", "BUS", "BICYCLE", "PEDESTRIAN"], | ||
| "uniqueItems": true | ||
| }, | ||
| "point_feature_size": { | ||
| "type": "integer", | ||
| "description": "A number of channels of point feature layer.", | ||
| "default": 4 | ||
| }, | ||
| "max_voxel_size": { | ||
| "type": "integer", | ||
| "description": "A maximum size of voxel grid.", | ||
| "default": 40000 | ||
| }, | ||
| "point_cloud_range": { | ||
| "type": "array", | ||
| "description": "An array of distance ranges of each class, this must have same length with `class_names`.", | ||
| "default": [-76.8, -76.8, -4.0, 76.8, 76.8, 6.0] | ||
| }, | ||
| "voxel_size": { | ||
| "type": "array", | ||
| "description": "An array of voxel grid sizes for PointPainting, this must have same length with `paint_class_names`.", | ||
| "default": [0.32, 0.32, 10.0] | ||
| }, | ||
| "down_sample_factor": { | ||
| "type": "integer", | ||
| "description": "A scale factor of downsampling points", | ||
| "default": 1, | ||
| "minimum": 1 | ||
| }, | ||
| "encoder_in_feature_size": { | ||
| "type": "integer", | ||
| "description": "A size of encoder input feature channels.", | ||
| "default": 9 | ||
| }, | ||
| "has_variance": { | ||
| "type": "boolean", | ||
| "description": "determines whether the covariance matrices for the object's position and velocity information are filled in.", | ||
| "default": false | ||
| }, | ||
| "has_twist": { | ||
| "type": "boolean", | ||
| "description": "Indicates whether the model outputs twist value.", | ||
| "default": false | ||
| } | ||
| } | ||
| }, | ||
| "required": ["model_params"] | ||
| } | ||
| }, | ||
| "properties": { | ||
| "/**": { | ||
| "type": "object", | ||
| "properties": { | ||
| "ros__parameters": { | ||
| "$ref": "#/definitions/centerpoint_tiny_ml_package" | ||
| } | ||
| }, | ||
| "required": ["ros__parameters"] | ||
| } | ||
| }, | ||
| "required": ["/**"] | ||
| } | ||
| } | ||
| }, | ||
| "required": ["model_params"] | ||
| } | ||
| }, | ||
| "properties": { | ||
| "/**": { | ||
| "type": "object", | ||
| "properties": { | ||
| "ros__parameters": { | ||
| "$ref": "#/definitions/centerpoint_tiny_ml_package" | ||
| } | ||
| }, | ||
| "required": ["ros__parameters"] | ||
| } | ||
| }, | ||
| "required": ["/**"] | ||
| } |