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pre-commit-ci[bot] committed Jun 6, 2024
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74 changes: 34 additions & 40 deletions perception/object_merger/schema/data_association_matrix.schema.json
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@@ -1,47 +1,41 @@
{
"$schema": "http://json-schema.org/draft-07/schema#",
"title": "Data Association Matrix Parameters",
"type": "object",
"properties": {
"ros__parameters": {
"type": "object",
"properties": {
"can_assign_matrix": {
"type": "array",
"items": {
"type": "number"
},
"description": "Assignment table for data association"
"$schema": "http://json-schema.org/draft-07/schema#",
"title": "Data Association Matrix Parameters",
"type": "object",
"properties": {
"ros__parameters": {
"type": "object",
"properties": {
"can_assign_matrix": {
"type": "array",
"items": {
"type": "number"
},
"max_dist_matrix": {
"type": "array",
"items": {
"type": "number"
},
"description": "Maximum distance table for data association"
"description": "Assignment table for data association"
},
"max_dist_matrix": {
"type": "array",
"items": {
"type": "number"
},
"max_rad_matrix": {
"type": "array",
"items": {
"type": "number"
},
"description": "Maximum angle table for data association. If value is greater than pi, it will be ignored."
"description": "Maximum distance table for data association"
},
"max_rad_matrix": {
"type": "array",
"items": {
"type": "number"
},
"min_iou_matrix": {
"type": "array",
"items": {
"type": "number"
},
"description": "Minimum IoU threshold matrix for data association. If value is negative, it will be ignored."
}
"description": "Maximum angle table for data association. If value is greater than pi, it will be ignored."
},
"required": [
"can_assign_matrix",
"max_dist_matrix",
"max_rad_matrix",
"min_iou_matrix"
]
}
"min_iou_matrix": {
"type": "array",
"items": {
"type": "number"
},
"description": "Minimum IoU threshold matrix for data association. If value is negative, it will be ignored."
}
},
"required": ["can_assign_matrix", "max_dist_matrix", "max_rad_matrix", "min_iou_matrix"]
}
}
}
121 changes: 60 additions & 61 deletions perception/object_merger/schema/object_association_merger.schema.json
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@@ -1,64 +1,63 @@
{
"$schema": "http://json-schema.org/draft-07/schema#",
"title": "Parameters for Object Association Merger Node",
"type": "object",
"definitions": {
"object_association_merger": {
"type": "object",
"properties": {
"sync_queue_size": {
"type": "integer",
"description": "The size of the synchronization queue.",
"default": 20
},
"precision_threshold_to_judge_overlapped": {
"type": "number",
"description": "The precision threshold to judge if objects are overlapped.",
"default": 0.4
},
"recall_threshold_to_judge_overlapped": {
"type": "number",
"description": "The recall threshold to judge if objects are overlapped.",
"default": 0.5
},
"remove_overlapped_unknown_objects": {
"type": "boolean",
"description": "Flag to remove overlapped unknown objects.",
"default": true
},
"base_link_frame_id": {
"type": "string",
"description": "The frame ID of the association frame.",
"default": "base_link"
},
"priority_mode": {
"type": "integer",
"description": "Index for the priority_mode.",
"default": 3,
"enum": [0, 1, 2, 3]
}
"$schema": "http://json-schema.org/draft-07/schema#",
"title": "Parameters for Object Association Merger Node",
"type": "object",
"definitions": {
"object_association_merger": {
"type": "object",
"properties": {
"sync_queue_size": {
"type": "integer",
"description": "The size of the synchronization queue.",
"default": 20
},
"required": [
"sync_queue_size",
"precision_threshold_to_judge_overlapped",
"recall_threshold_to_judge_overlapped",
"remove_overlapped_unknown_objects",
"base_link_frame_id",
"priority_mode"
]
}
},
"properties": {
"/**": {
"type": "object",
"properties": {
"ros__parameters": {
"$ref": "#/definitions/object_association_merger"
}
"precision_threshold_to_judge_overlapped": {
"type": "number",
"description": "The precision threshold to judge if objects are overlapped.",
"default": 0.4
},
"required": ["ros__parameters"]
}
},
"required": ["/**"]
}

"recall_threshold_to_judge_overlapped": {
"type": "number",
"description": "The recall threshold to judge if objects are overlapped.",
"default": 0.5
},
"remove_overlapped_unknown_objects": {
"type": "boolean",
"description": "Flag to remove overlapped unknown objects.",
"default": true
},
"base_link_frame_id": {
"type": "string",
"description": "The frame ID of the association frame.",
"default": "base_link"
},
"priority_mode": {
"type": "integer",
"description": "Index for the priority_mode.",
"default": 3,
"enum": [0, 1, 2, 3]
}
},
"required": [
"sync_queue_size",
"precision_threshold_to_judge_overlapped",
"recall_threshold_to_judge_overlapped",
"remove_overlapped_unknown_objects",
"base_link_frame_id",
"priority_mode"
]
}
},
"properties": {
"/**": {
"type": "object",
"properties": {
"ros__parameters": {
"$ref": "#/definitions/object_association_merger"
}
},
"required": ["ros__parameters"]
}
},
"required": ["/**"]
}
48 changes: 22 additions & 26 deletions perception/object_merger/schema/overlapped_judge.schema.json
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@@ -1,31 +1,27 @@
{
"$schema": "http://json-schema.org/draft-07/schema#",
"title": "Overlapped Judge Parameters",
"type": "object",
"properties": {
"ros__parameters": {
"type": "object",
"properties": {
"distance_threshold_list": {
"type": "array",
"items": {
"type": "number"
},
"description": "Distance threshold for each class used in judging overlap."
"$schema": "http://json-schema.org/draft-07/schema#",
"title": "Overlapped Judge Parameters",
"type": "object",
"properties": {
"ros__parameters": {
"type": "object",
"properties": {
"distance_threshold_list": {
"type": "array",
"items": {
"type": "number"
},
"generalized_iou_threshold": {
"type": "array",
"items": {
"type": "number"
},
"description": "Generalized IoU threshold for each class."
}
"description": "Distance threshold for each class used in judging overlap."
},
"required": [
"distance_threshold_list",
"generalized_iou_threshold"
]
}
"generalized_iou_threshold": {
"type": "array",
"items": {
"type": "number"
},
"description": "Generalized IoU threshold for each class."
}
},
"required": ["distance_threshold_list", "generalized_iou_threshold"]
}
}
}
6 changes: 2 additions & 4 deletions perception/object_merger/src/object_association_merger/node.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -81,11 +81,9 @@ ObjectAssociationMergerNode::ObjectAssociationMergerNode(const rclcpp::NodeOptio
{
// Parameters
base_link_frame_id_ = declare_parameter<std::string>("base_link_frame_id");
priority_mode_ = static_cast<PriorityMode>(
declare_parameter<int>("priority_mode"));
priority_mode_ = static_cast<PriorityMode>(declare_parameter<int>("priority_mode"));
sync_queue_size_ = declare_parameter<int>("sync_queue_size");
remove_overlapped_unknown_objects_ =
declare_parameter<bool>("remove_overlapped_unknown_objects");
remove_overlapped_unknown_objects_ = declare_parameter<bool>("remove_overlapped_unknown_objects");
overlapped_judge_param_.precision_threshold =
declare_parameter<double>("precision_threshold_to_judge_overlapped");
overlapped_judge_param_.recall_threshold =
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