fastjson

driving_log_replayer/driving_log_replayer/perception_eval_conversions.py

@@ -22,7 +22,7 @@
 from geometry_msgs.msg import Pose
 from geometry_msgs.msg import Quaternion as RosQuaternion
 from geometry_msgs.msg import Vector3
-import jsonschema
+import fastjsonschema
 import numpy as np
 from perception_eval.common import ObjectType
 from perception_eval.common.object import DynamicObject
@@ -305,27 +305,26 @@ def fill_xyzw_quat(q: Quaternion | None) -> dict:
 # utils for writing each perception frame result to a file
 class FrameDescriptionWriter:
     schema: dict = None
+    validate_func = None
 
     @classmethod
     def load_schema(cls) -> None:
-        if cls.schema is None:
+        if cls.schema is None or cls.validate_func is None:
             package_share_directory = get_package_share_directory("driving_log_replayer")
             schema_file_path = (
                 Path(package_share_directory) / "config" / "object_output_schema.json"
             )
             with schema_file_path.open() as file:
                 cls.schema = json.load(file)
-            # Compile the schema into a validator instance
-            validator_cls = jsonschema.validators.validator_for(cls.schema)
-            validator_cls.check_schema(cls.schema)
-            cls.validator = validator_cls(cls.schema)
+            # Compile the schema into a validation function
+            cls.validate_func = fastjsonschema.compile(cls.schema)
 
     @classmethod
     def is_object_structure_valid(cls, objdata: dict | None) -> bool:
         cls.load_schema()
         try:
-            cls.validator.validate(objdata)
-        except jsonschema.exceptions.ValidationError:
+            cls.validate_func(objdata)
+        except fastjsonschema.exceptions.JsonSchemaException:
             return False
         else:
             return True